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XGT Servo XGT Servo

1. Pul Command pulse row mode er Remark Logic In CCW direction In CW direction M P e ij E A phase 2 P 4 B phase i R l P v 1 5 SAEI AE AUR CCW pulse e b viv CW pulse L 2 E Hurt Wud Direction I Pulse c R L H P P o A phase 3 b B phase R t l P v 4 E E EE CCW pulse e H 51 414 CW pulse L P o g 5 b HL pe JE EG Direction I H L Pulse c R 3 19 Chapter 3 Parameter Setting Position control Speed Mode Display range ON OFF Manufactured default OFF Position speed control When the servo drive is set to position control mode set the speed mode of P05 03 on to apply the deceleration PO3 10 P03 11 and S shape mode operation P03 12 set in user menu POS by the speed command by the position command pulse Unit P05 04 Feedforward Hz Hz pulse In position control mode when the error of command pulse and actual movement pulse exceeds the set value of P05 07 it converts to P control mode to reduce the overshoot pulse nidi pulse Unit P05 10 POS CMD TC ms Unit P05 11 FFTC ms ELCTR Gear NUM1 ELCTR Gear DEN1 ELCTR Gear NUM2 ELCTR Gear DEN2 3 20 Display range 0 0 100 0 Display range 0 0 500 0 Display range 0 0 500 0 Display range 0 99999 Display range 0 99999 Display range 0 99999 Display range 0 0 200
2. Function Function acronym Function explanation number 0 Do not use output function 1 SVONOFF Servo on off operation output 2 TYPEOUT Control mode conversion output 3 BRAKE Brake operation signal output 4 ZTRQ Zero torque reach output 5 ZSPD Zero speed reach output 6 INSPD INPOS INTRQ Set speed reach compiten output Set position reach completion output Set torque reach completion output RDY Servo ready status output 8 PPIOUT P PI control mode status output d limit st Te 9 SPDOUT TRQOUT Spee m status output Torque cone y Torque limit status output Speed Position control COW revolution speed limit stat tput Tt trol 10 PCWOUT PTQOUT e OH e ania CCW torque limit status output Speed Position control 11 NCWOUT NTQOUT CW ee limit status output oue control CW torque limit status output Speed Position control 12 PCWRUN CCW revolution status output 13 NCWRUN CW revolution status output 14 ALARM Alarm generation status output 15 A CODEO Alarm code 0 output 16 A CODE1 Alarm code 1 output 17 A CODE2 Alarm code 2 output 18 A CODES Alarm code 3 output 25 SETUP1 Use torque control megs internal setting function Can only be entered in P08 01 menu 26 SETUP2 Use speed control mode internal setting function Can only be entered in P08 01 menu 27 SETUP3 Use position control mode internal setting function Can only be entered in P08
3. Motor XMR TNO5 TNO9 TN13 TN17 TN20 TN30 TN44 TN75 Drive XDA S 05 10 15 20 20 30 45 75 Flange Size L 130 180 Rated output W 450 850 1300 1700 1800 2900 4400 7500 Rated current A rms 37 6 9 10 9 144 16 4 22 6 33 1 49 6 oo oe 18 1 29 65 39 2 56 6 94 67 124 1 Rated N m 2 87 5 41 8 27 10 8 11 5 18 6 27 9 47 7 torque kgf cm 29 3 55 2 84 4 110 117 190 285 486 9 Max N m 8 61 142 22 5 294 34 5 46 6 79 8 119 3 instantaneous torque kgf cm 89 5 145 230 300 351 475 815 1 1217 Rated rpm r min 1500 Max rom r min 3000 Rotator gf cm s 4 12 7 63 11 12 14 63 26 1 43 8 67 8 126 4 inertia GD 4 kg m x 10 4 04 7 48 10 9 14 34 25 1 42 9 66 4 123 9 Allowable load inertia ratio isis folo 10 times or less Rated power rate KW s 20 5 39 1 62 8 81 1 51 5 80 8 117 4 183 8 Detector Incremental 17 33 bit 131072 p rev or 2000 6000 p rev type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 55 7 0 8 5 10 0 12 9 182 26 8 45 7 Torque speed characteristics TNO5 TNO9 TN13 TN17 TON m Torque N m Torque N m Tous m 8 12 20 24 6 9 15 18 4 6 10 12 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min TN20 TN30 TN44 TN75 Torque N m Torque N m Torque N m 30 50 75 18 30 45 12 EHE 20 30 1000 2000 3000 1000 2000 3000
4. AAA AAA yy YYY NOISE FILTER 4 NOISE FILTER 4 L D C D YvYv YvYv BOX BOX X gt lt O gt Do not put or tie the grounding wire of noise filter in the same duct with the output wire App 2 3 Appendix 2 Noise Countermeasure x Example of wiring when using multiple units of servo drives AC 200 230 V Main power ON Main power n OFF Oo O MC Noise Filter MC 1RY 2RY 3RY FEST l 9 9990 0 0 O Surge Killer e MC Servo Drive 9 R XDA S U 0o S V H M T w 0 4 FG re r C N gt T t 6 46 c 24v N Diod 1 24 25 Servo Drive2 e R XDA S U FO Rv eo T WwW Q 4 fo e r e e t N pS 2Ry 2 nn 46 C 24V KH N Diode 1 24 25 Servo Drive3 R XDA S U S Vv o M T Ww 0 4 L Fi Qe 8 r C N sy t Ann 46 g 24V KH N Diode 1 24 25 Xx Recommended noise filter Servo drive XDA S NFZ 4030SG NFZ 4040SG NOISE FILTER 30A 40A V Recommended manufacturer Samil Components www samilemc com App 2 4 Appendix 3 Parameter Table Appendix 3 shows the full table of parameters mentioned in the manual Appendix 9 1 Parameter Table uses t eb tenista tr
5. essent 1 2 1 3 Combination Table of Servo Drive and Motor sss 1 3 1 4 Installation Method RR 1 4 eA NON WM e 1 7 1 0 Chapter 1 Model Check and Handling sm 1 1 Model Check 1 1 1 Servo drive model classification XDA SCICIE sn ee 4 Por wo f l m mo mm wm ow poem poe a0 Eom qoom T Pw om mom Note Since the drive models for serial 17 bit encoder and general incremental encoder are separated as shown above please check the model name before using the product Encoder 1 1 2 Servo motor model classification XMR EL L e a AC Servo Motor Series J Oil Seal Type Symbol Use CN CK High speed low torque type Symbol Item KF KN Medium speed standard type 0 None TF TN Medium speed high torque type 1 Oil seal attached LF LN Low speed large torque type Brake Rated Output W Symbol Item Rated Rated Symbol Symbol 0 None output W output W Encoder 01 100 15 1 Brake attached Symbol pulse Type 02 200 16 2 130Frange A 2000 DC 24V Brake 03 300 20 B 2500 04 400 22 Shaft Type C 3000 05 500 30 Incremental Symbol Item D 06 600 35 A Straight amp No Key E 07 700 40 B Straight amp Key F 08 800 44 C Taper amp Key G 204
6. lt External diagram A gt 2 5 Chapter 2 Wiring and Connection 2 3 CN1 I O Signal Explanation 2 3 1 CN1 terminal arrangement CN1 is the connected located on the top right part of the front side of the operating device This connector is used for connecting the upper control device that commands the operating device and the operation The pin arrangement and name of the CN1 connector are as shown in the following picture 1 GND 26 GNO 2 MONIT2 27 SPDIN 3 MONIT1 28 TRQIN 4 BAT 29 BAT 5 PZO as 30 PZO 6 PBO 31 PBO 7 PAO 32 PAO 8 GND 33 GND 9 PPRIN Sf 34 GND 10 PFIN 35 12V 1 PPFIN 36 GND 12 PRIN 37 12V SH 3 STOP 38 ALMRST 14 TLIM 5 CCWLIM 2d EC 4o CWUIM PTQLIM NTQLIM 16 DIR SEU 41 PI P 7 E E ses 42 SPD3 18 SVONEN 43 CERRI 9 A CODE 44 A CODE 20 ALARM 45 A CODEO SES 22 INSPD INP 5 a 47 ZSPD id TRQOUT OS INTRQ 23 48 BRAKE 24 GND24 9 24VIN 25 GND24 es 50 FG The above table indicates the reference signal of manufactured default For the function of partial pin among the signals the signal allocation can be changed in P07 mode input function setting and P08 mode output function setting The connector for CN1 is optional Manufacturer 3M CASE product name 10350 52F0 008 Connector for soldering 10150 3000VE 2 6 Chapter 2 Wiring a
7. ON OFF OFF Speed Torque Position P02 26 Emergency Stop ONOFF OFF Speed Torque Position P02 27 Direction Select 1 ON OFF OFF Speed Torque Position P02 28 Ripple COMPEN ONOFF OFF Speed Torque Position P02 29 Parameter INIT ONOFF OFF Speed Torque Position P03 01 SpeedGanmode 1 1 5 1 Sped P03 02 Pl IPcontrol 0 0 1000 1000 Speed Posiion P03 03 Friction COMPEN 00 1000 0 0 Speed Posiion P03 04 LoadCOMPEN 1 00 1000 00 Speed Posiion P03 05 SC Loop Gaind I Hz 0 0 1000 0 Bycapacity Speed Position P03 09 AnalogCMDTC ms 00 20000 00 Speed P03 10 ACCEL Time ms 0 0 9000 0 0 Speed Posiion P03 11 DECELTime ms 1 0 0 9000 0 0 Speed Posiion P03 127 S ModeTC ms 00 9000 00 Speed Posiion P03 13 In Speed Range 0 99999 100 Speed P03 17 AutoOffset ONOFF OFF Speed Torqe P03 18 Manual Offset ms 10000 10000 0 0 Speed Torgue P03 19 Override ENB amp ONOFF OFF Speed P03 20 Clamp Mode 20 2 P03 21 Clamp Voltage mv 1000 0 1000 0 8 00 P03 22 F Back TC 0 0 2000 0 P03 23 Zero SPD VIB REJ 0 0 1000 0 Speed Position 0 Speed Position P03 24 Feedforwar
8. sse 3 14 3 5 Input Contact Point Digital Speed and Torque Setting 3 18 3 6 Position Control Parameter Setting ssssssssseee 3 19 3 7 Torque Control Parameter Setting sss 3 21 3 8 Input Contact Point Function Setting sss 3 23 3 9 Output Contact Point Function Setting sss 3 28 3 10 Analog Monitor Function Setting essen 3 33 3 11 Job Operation Parameter Setting ssssssseeseees 3 34 3 12 Alarm Display Setting 0 ceseseesesececesesesesesesesesesescseseseseseseseseseseaeaeseasaeaeaeanenes 3 36 3 0 Chapter 3 Parameter Setting The menu setting can be executed with the digital load and internal mount loader Refer to Chapter 5 for details on how to use the internal mount load and digital loader The acronym and meaning used in this manual are as follows Acronym Meaning PC Position Controller Position Controller CC Current Controller Current Controller SC Speed Controller Speed Controller LMT Limit Limit ENB Enable Enable INIT Initialize Initialize PROG Program Program CMD Command Command ACCEL Acceleration Acceleration DECEL Deceleration Deceleration SPD Speed Speed POS Position Position COMPEN Compensation C
9. CN1 18 J oj J T Input contact PIN ON 38 om 39 om 401 om ai uu uu allocation part 7 CN1 197 om 2077 om 217 7 ON 227 ZN 287 Output contact PIN e 2i ef e s allocation part CN1 44 CN1 45 CN1 46 CN1 47 CN1 48 The PIN allocation based on the manufactured default is as follows CN1 PIN ates 43 17 42 16 41 15 40 14 39 13 38 tial oy SPD sPDZ OM cw spo w allocated EN GEAR GEAR SPD3 DIR PI P PTQLI LIMNT MALI STOP STOP RST value 1 2 M QLIM M CN1 PIN No Input 23 48 22 47 21 46 20 45 19 44 Initial INSPD SPDOU allocated BRAKE INPOS ZSPD RDY T TRQO ALARM E Pn E value INTRQ UT 3 3 Chapter 3 Parameter Setting For digital loader gt The following table shows the PIN allocation based on the manufactured default value CN1 PIN SUN 43 17 42 16 41 15 40 M 39 18 Ae No Input EN SPD1 SPD2 SPD3 DIR PVP COWLIM CW LIM TLIM ESTOP STOP RST Example 1 1 0 0 0 0 0 1 0 1 0 0 Command CCW CW Speed tor Operation NIS Internal command spese direction M contro revolution revolution que limit Not used Not used Not content operation selection operation i j used revolution possible impossible not used 48 22 46 45 19 44 Nun e BRAK INSPD INPOS ple hae SPDOUTTR Aen aco ACO co Nr E INTRQ QOUT DEO DE1 DE2 Example 1 1 1 1 0 1 0 0
10. asind y Jejunoo NiHd NIHdd peiejduuoo uonisod ul E uonisog 80 S0d uonisod uj puewwoo 7 uonisod NY E G0 Y euelu JJ r 90 S0d 50 50d la LP x uie d Od Jona 4 ISL y uonisog r 01 50d a ey 01 asind puewuox 70 50d piemuo pee ISL LL S0d uonengueJeyiq OL piemuo pee puewwoo peeds ND JeuJ81u 440 440 dosa WTM wpe x dois KoueBjeur3 Null uonnjo e MO 430 INI1M29 yu uonnjo ey MOO 9sind es nd 4 NI4d NIddd 20 50d edA esina uonoojes ad asjnd NO NO c4 61 S0d NA v1ee5 14973 81 S0d WNN 4885 u1o13l NO d4O Z1 S0d NAG 1ee5 1uo13l 3 91 S0d WON 1299 41073 Io 440 NO S1 G0d N3G 21899 1uo13l t 1 S0d WAN 24885 14073 f 430330 1 S0d NAG 1889 145973 euvao ruvao l zi s0d WAN Heap u1o13l JE96 oiuoJ29 3 Chapter 4 Servo Using Method and Gain Adjustment BE 4 2 1 CN1 wiring diagram when using position servo NFB MC1 Servo Drive o To R UO U PowerAC200 230V 1 e KOA SDO i ot 50 60H in p OS Note 1 Or Note 2 Brake power input terminal Regenerative OP resistor Note 3 OB CN1 Input CN3 Digital Loader 24V PC Loader RS232C ESTOP SPD1 GEAR1 SPD2 GEAR2 PLSCLR Network communication RS485 RS232C CN1 Output MONIT1
11. LS values every single customer Quality and service come first at LSIS Always at your service standing for our customers www lsis biz LS HEAD OFFICE i a LS Industrial Systems Shanghai Co Ltd gt gt China LS tower Hogye dong Dongan gu Anyang si Gyeonggi do Address Room E G 12th Floor Huamin Empire Plaza 1026 6 Korea http eng lsis biz No 726 West Yan an Road Shanghai China Tel 82 2 2034 4689 4888 Fax 82 2 2034 4648 Tel 86 21 5237 9977 LS Industrial Systems Tokyo Office gt gt Japan a LS Industrial Systems Wuxi Co Ltd gt gt China Address 16F Higashi Kan Akasaka Twin Towers 17 22 Address 102 A National High amp New Tech Industrial 2 chome Akasaka Minato ku Tokyo 107 8470 Japan Development Area Wuxi Jiangsu China e mail Xugh Igis com cn lv CM UN o Tel 86 510 534 6666 Fax 86 510 522 4078 i e mail jschunaQlsis biz LS Industrial Systems Beijing Office gt gt China LS Industrial Systems Dubai Rep Office gt gt UAE Address B tower 17th Floor Beijing Global Trade Center building Address P O BOX 114216 API World Tower 303B Sheikh No 36 BeiSanHuanDong Lu DongCheng District Beijing China Zayed road Dubai UAE e mail hwyim lsis biz Tel 86 10 5825 6025 Tel 971 42320230 Fax GSA LS Industrial Systems Guangzhou Office gt gt China LS VINA Industrial Systems Co Ltd gt gt Vietnam Address Room 1403 14F New Poly Tower 2 Zhongshan Liu Addres
12. 2 1 1 Main circuit and peripheral device connection a c Eau o iE qup Mcd bM Power specification Use the power specification ded AE le life picis SEN S 3 phase within AC200 230V permitted by the f Does odi i ae servo for use For the power voltage of AC400V AC200 230V a temperature Serie ambient 1 level always use the power transformer RIAL E temperature to below 50 C and at PE H san average of 40 C H o Hz cba hio cua dico gl rv Mi H H NFB No Fuse Circuit Breaker It breaks the circuit 1 H 1 when over current flows and is used for power line NES p7 eeQeMe flll1 maintenance P CN1 This is the connector to H t H iconnect the servo drive to the higer H device You can connect to the Hd higher device including PLC NC Motion controller etc be ccoccatacdsscasccasesessscewec H EN ET d H E Noise filter You must use this to blocks the H external noise inflowing in the commercial power ff DIDI Li H NOISE FILTER GND 4 i 1 H pr H 1 Magnetic contactor It turns on off the 1 E Servo power Do not start or stop th
13. The bias pulse band is the value showing the time P05 20 Bias compensation speed is added in error pulse When the error pulse exceeds the bias pulse band the bias compensation speed is added Manufactured default Position control 0 Display range 0 99999 P05 22 Backlash Pulse 3 7 Torque Control Parameter Setting Manufactured default Torque control 0 0 Display range 0 0 2000 0 P06 01 Analog TRQ TC When the upper controller commands the torque of the servo drive in analog voltage this sets the low band passing filter TC of the analog torque command TRQ ACCEL Time D Manufactured defau orque contro 0 0 4 9000 0 TRQ DECEL Time Display range Manufactured default Torque control dina 0 0 9000 0 dn q The upper controller sets the acceleration deceleration time of the torque command in the torque control mode of the servo drive 3 21 Chapter 3 Parameter Setting Manufactured TRQ S Mode Display range default Torque control P06 04 0 0 2000 0 0 0 If you adjust the S mode operation TC in the condition satisfying the operating characteristics of the machine system you can reduce the vibration and impact of the machinery Manufactured Display range default Torque control In TROR Toe URO Ranga 0 0 100 0 S Set torque reach range E f d Time sec ON OFF Time sec f Manufactured P06 06 Stop TRQ Range om Pipay range default Torque control
14. erret tnbte tenaces 3 21 3 8 Input Contact Point Function Setting sees 3 23 3 9 Output Contact Point Function Setting eee 3 28 3 10 Analog Monitor Function Setting essere tenens 3 33 3 11 Jog Operation Parameter Setting essere 3 34 3 12 Alam Display Seti accurrit cniin tette ne rne mbe tenere cip einn i aut derer 3 36 Chapter 4 Servo Using Method and Gain Adjustment 4 1 Gain Adjustment Method when Using Speed Servo sss 4 1 4 2 Gain Adjustment Method when Using Position Servo sss 4 7 4 3 Torque Servo USe n 4 14 4 4 Auto Tuning Using Method ssiscssieiaeusdcarteetatesdecsncecteountataceidieteenintinmie de nineieedineed 4 17 4 5 Key Points of Gain Adjustment essen nettes 4 20 4 6 Precaution when Using Absolute Encoder see 4 22 Chapter 5 Servo Operating Method 5 1 Basic Connection of Loader sssssssssssesesesesenene tenete tenente tenen 5 1 5 2 Using Method of Internal Mounter Loader ess 5 2 5 3 Using Method of Digital Loader sees 5 9 Chapter 6 Troubleshooting and check Sms spese MEO oo 0 E 6 1 62 S 50 REE EE NN EE NE eee 6 4 Chapter 7 Connection with Upper Controller
15. Motor Commandspeed Ospeed Servo Speed torque Operation Not used brake position torque reached ready limit not in Normal Normal condition content i is 5 condition cancel reached condition condition condition process Setting range Manufactured eed Torque PROG Version g rang b 3 0 0 99 99 default Position control 3 4 Chapter 3 Parameter Setting 3 2 Motor and Operating Device Setting Setting range Manufactured default Speed Torque GEN 00 99 By capacity Position control Motor ID Set the motor ID to use In the display of P01 02 P01 10 Except P01 07 and P01 08 the motor parameter constant value is not indicated 00 Individual 60 kn s inos Display range Manufactured default Speed Torque 0 01 999 99 By motor type Position control Display range Manufactured default Speed Torque 0 1 999 99 By motor type Position control Display range Manufactured default Speed Torque 0 001 99 999 By motor type Position control Display range Manufactured default Speed Torque 0 01 99 999 By motor type Position control Display range Manufactured default Speed Torque 0 0 9999 0 By motor type Position control 3 5 Chapter 3 Parameter Setting Unit P01 08 MAX Speed EI rem kgfcm Unit Pole Number Pole Unit di i l Display range 0 0 9999 0 Display range 0 0 9999 0 Display range 2 98 Display range 0 45 Manufactured defau
16. StE 18 PROG Version 200 9999 Speed Torque Position Po1 01 MotriD GEN 00 99 Bycapacity Speed Torque Position P01 02 Inertia gfcm 0 01 999 99 By motortype Speed Torque Position P01 03 TRO Constant Kgfem A 0 1 999 99 By motor type Speed Torque Position P01 05 Phase Resistance amp 0 01 99 999 By motortype Speed Torque Position P01 07 Rated Speed rom 0 0 9999 0 By motor type Speed Torque Position PO1 10 PoleNumber Pole 2 98 By motortype Speed Torque Position Po1 11 DrvelD 8 0 45 Bydrivetype Speed Torque Position PO0i 12 EncoderID Enc0 R EncA Speed Torque Position 1 32768 P01 15 __ COM Baud Rate 0 3 O0 Speed Torque Position Po1 16 Serial Select 0 2 0 Speed Torque Position Po1 17 Serial vo f 0 2 O0 SpeedTorque Position Po1 18 SeiallDD 1 31 1 Speed Torque Position P01 19 ParameterLock ON OFF OFF Speed Torque Position PO1 20 Absolute Origin ONOFF OFF Speed Torque Position Po2 01 Control Mode 0 5 1 Speed Torque Position P0202 ModeChangeTim ms 100 0 100000 500 0 Speed Torque Position P02 03 CCWTRQLMT 00 3000 3000 Speed Torque Position P0204 CWTRQLMT 3000 00 3000 Speed Torque Position
17. contact point OFF ON OFF Gcslos P03 07 Applied gain P03 05 SC loop gain ag P02 24 100 ms 8 This sets the mixture rate of the PI IP controller Manufactured Display range PI IP Control 96 default Speed control 0 0 100 0 100 0 Characteristics of individual controller a PI speed controller It has excellent acceleration deceleration and good responsiveness characteristics but can cause large overshoot b IP speed controller It has lower acceleration deceleration and responsiveness characteristics compared to the PI speed controller but it can suppress the overshoot to reduce the vibration You can adjust the controller set ratio with the desired performance by considering the responsiveness and overshoot P03 02 100 Applied to PI speed controller P03 02 0 Applied to IP speed controller 4 6 Chapter 4 Servo Using Method and Gain Adjustment 4 2 Gain Adjustment Method when Using Position Servo This explains the position servo using method and gain adjustment method The following diagram shows the occurring sequence of the speed command during position control JO eseo ul foe 10119 Buimoyjo4 Nt JO eseo ul re 1 60 90d esind 10118 woo AT 4 7 enpA1es indui julod 1981002 Jejunoo LO UONISOd Jepoou3 NO U9UM Je9 D u19
18. reverse direction operation Key JOG speed positive operation Key JOG operation OFF Chapter 5 Servo Operating Method nnn 2 Auto jog mode setting JOG speed 1 setting JOG time 1 setting RIGHT JOG time 2 setting JOG3 7 setting JOG speed 8 setting JOG time 8 setting Auto JOG mode setting Revolution speed time Execute auto JOG mode Auto jog mode in XDA S supports 8 repeated pattern operations and the 1 auto jog mode that sets the revolution speed rpm and revolution time sec and 2 auto jog mode that sets the revolution time rpm and revolutions rev are supported ED Operation explanation Set value 0 Do not use auto jog mode 1 Use auto jog mode for revolution speed revolution time 2 Use auto jog mode for revolution speed revolutions Chapter 5 Servo Operating Method 5 2 5 I O contact point function parameter setting 1 Input contact point function setting PO7 mode CN1 18 pin is set to O1 SVONEN input function CN1_18 pin is changed to 03 DIR input function Set to SETUP 5 Speed torque multi control mode output fuction CN1_23 pin is changed to 02 TYPEOUT input function CN1_48 pin is changed to 03 BRAKE input function 5 8 Chapter 5 Servo Operating Method I M 5 3 Using Method of Digital Loader 5 3 1 Flow of display The display par
19. wring mechanical overload Ano 08 Output U V W Check motor wiring replace servo V Output NC missing Copan on mss drive Encoder pulse see rate settin Encoder ID setting error PPR ERROR g g error Absolute value Ano 10 encoder data Absolute value encoder data Re transmit the absolute value ABS DATA transmission transmission error encoder data after resetting Ano 11 Battery voltage is 2 8V or ABS BATT Battery Alarm bale Replace battery 3 6V Accurately set the encoder ID PO1 12 6 2 Chapter 6 Troubleshooting and Check ABS encoder Ano 12 multi turn data ABS encoder multi turn data Re transmit the absolute value ABS MDER transmission transmission error encoder data after resetting Ano 13 Output U V W Output U V W mis wiring Check motor wiring replace servo Output EC Mis wiring Error Connection drive Trial of entry of parameter that cannot be changed when Change the set value after servo is servo is ON OFF cancel parameter lock setting change in parameter menu P01 19 locking condition Parameter setting error Input value within set range Servo drive overload characteristics curve Set value input error 10000 Rated Overload operation time C INE Min 96 1 1000 i m QD 9 o 100 E D amp w QD e O 10 100 150 200 250 300 Motor rated current 96 6 3 Chapter 6 Troubleshooting and Check E 1 6 2 Check N Caution e When c
20. 29 55 85 117 190 285 Max Nm 8 61 147 245 344 55 9 775 instantaneous kgf cm 89 5 150 250 351 570 790 torque Rated rpm r min 1500 Max rpm r min 3000 Rotator inertia gf om s 10 5 155 253 65 3 100 5 159 1 GD7 4 kgm x 10 10 3 15 2 24 8 64 0 98 5 156 Allowable load inertia ratio f 10 times or less Versus rotor Rated power rate kW s 7 85 19 1 28 0 20 5 35 2 50 0 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 82 11 6 158 172 274 38 3 Torque speed characteristics TF05 TFO9 TF13 Torque N m Torque N m Torque N m fm 15 DEM 8 12 20 6 9 15 4 6 10 Continuous 1000 2000 3000 Revolution speed r min TF20 Torque N m m N m 28 21 14 7 1000 2000 3000 Revolution speed r min Continuous 1000 2000 3000 Revolution speed r min TF30 Torque N m m e N m 48 36 24 12 E 1i 1000 2000 3000 Revolution speed r min A Continuous duty zone amp B Intermittent duty zone App 5 8 Continuous 1000 2000 3000 Revolution speed r min TF44 Toque m 64 48 32 16 1000 2000 3000 Revolution speed r min sm ul Appendix 5 Servo Motor Specification Motor XMR LFOS LFO6 LFO9 LF12 LF20 LF30 Drive XDA S 04 05 10 1
21. ALS 09 AlarmHistory7 0 32 0 Speed Torque Position ALS 10 Alarm History 0 32 O Speed Torque Position ALS Alarm Histoy9 0 32 0 Speed Torque Position ALS 12 j AlamHistoyiO 0 32 0 Speed Torque Position ALS 13 HisoyReset ON OFF OFF Speed Torque Position V The parameter with the symbol cannot be changed when the SVONEN input contact point is ON App3 4 Appendix 4 Revision History MM Edu Appendix 4 1 Revision History Issue date Revised content Version 2005 8 Issued initial version 1 0 2005 11 1 correction Addition of function and supplement of content 1 1 2006 2 2 correction FDA7000 FDA7000S model separation 1 2 App4 1 Appendix 5 Servo Motor Specification Appendix 5 explains the servo motor specification Appendix 5 1 Servo motor specification menannmssmmmmienieisnsn tm App 5 1 LS industrial Systems App 5 1 Appendix 5 Servo Motor Specification P LLL LL LLL I IIIIIILLLHS Appendix 5 1 Servo Motor Specification Motor XMR CNO1 CNO2 CN03 CNO04 CNO5 CNO4A CNO6 CNO8 CN10 Drive XDA S 01 02 04 05 10 Flange Size LJ 60 80 Rated output W 100 200 300 400 500 400 600 800 1000 Rated current A rms 1 25 2 1 28 2 85 3 2 28 3 5 4 65 5 8
22. Level b After 50ms it switches to standby condition to receive the serial data The up down counter for incremental pulse count is cleared to 0 It receives the serial data 8 byte After receiving the initial serial data and about 400ms past it operates as general incremental encoder ABS REQ signal Revolution serial data Initial incremental pulse Incremental pulse PAO i A Phase A Phase Incremental pulse Negative j f Incremental i i pulse i PBO A Phase A Phase 90ms Type 1 60ms Min ie 50ms i260ms Max e about 15ms Q 9msi 400ms Max 2 16 Chapter 2 Wiring and Connection 2 5 CN3 Wiring and Signal Explanation 2 5 1 CN3 terminal arrangement CNS is the connector located on the bottom left side of the front side of the operating device This connector is used for connecting the operating device and the upper level device or serial communication with peripheral device The PIN arrangement shown from the connector in the user s point of view is as follows Based on soldering side of user connector Connector for CN3 is optional Manufacturer 3M CASE product name 10320 52F0 008 Connector For soldering 10120 3000VE 2 5 2 Communication cable for RS 232C channel GHBBEBRHEE e D SUB 9Pin 10120 3000VE 3M 5 6 2 10 3 9 Connector body F G Communication cable spec AWG24 UL2919 AMESB 3C LS Cable PC Serial Port Servo Drive CN3 Connec
23. Speed command speed Maximum speed 5 V Torque command torque 3 Rated torque 5 V Feedback pulse command pulse 20000 pulsej 5 V Manufactured P09 04 Monitor Offset1 EM Display range default Speed Torque mV 1000 0 1000 0 0 0 Position control Manufactured P09 08 Monitor Offset Unit Display range Pen Speed Torque REUS mV 1000 0 1000 0 00 Position control 3 33 Chapter 3 Parameter Setting 3 11 Job Operation Parameter Setting Manufactured Display range Speed Torque T K M faul JOG 01 ey dog Ode ON OFF yon Position control This sets the key jog operation mode by left and right key If you set JOG 01 to ON it switches to the jog mode without external command to turn on the servo At this time press the left and right button to turn in the CCW direction or CW direction at the speed set in JOG 02 Display range ee Speed Torque JOG 02 Key Jog Speed re default 3 9999 9 9999 9 Position control 100 0 This sets the operation speed of the key jog mode Manufactured Display range Speed Torque Auto Jog Mod Geta JOG 03 uto Jog Mode 0 2 I Position control This sets the operation of auto jog mode Auto jog mode supports 8 repeated pattern operation and the patterns support the No 1 Auto jog mode that sets the revolution speed rom and revolution time sec and No 2 Auto jog mode that supports the revolution speed rpm and revolution rev Set value Operation explanation Do not us
24. When using the I O contact point power simultaneously recalculate the power capacity according to the output contact points B 24 V GND GND24 24 Connect the ground of power 24 VDC 10 for external I O contact point 25 User preparation 1 8 Common power ground terminal of speed command torque limit o v GND 26 33 34 36 command speed torque monitor output encoder output terminal Battery BAT 29 When using the absolute encoder connect the battery from the upper Battery BAT 4 device Do not connect the drive side and both sides of the upper device 12 V output 12 35 When simply outputting speed command and torque limit use the 12 V 12 V output 12 37 power FRAME GROUND FG 50 Ground the cable ground wire of CN1 Function of fixed I O contact point cannot be changed 2 10 Chapter 2 Wiring and Connection M 2 4 CN2 Wiring and Signal Explanation 2 4 1 When using incremental encoder CN is the connector located on the bottom right side of the front side of the operating device This connector is used for connecting the operating device and the encoder of the servo drive The PIN arrangement shown from the connector in the user s point of view is as follows The encoder signals may differ depending on the type of encoder Based on soldering side of user connector Connector for CN2 is optional Manufacturer 3M CASE product name 10320 52F0 008 Connector Fo
25. i i 96 P0205 CCW Speed Limit 0 0 6000 Speed Torque Position P02 06 CW Speed Limit 6000 0 0 0 me n Speed Torque Position P02 07 Brake Speed 0 0 9999 9 Speed Torque Position P02 08 0 0 10000 0 Speed Torque Position P02 09 DB Mode 0 3 2 Speed Torque Position P02 10 Notch Filter 1 ze P02 11 i Ao 0 2 0 Speed Torque Position 2000 0 m NF Frequency 1 H 50 0 2000 300 0 Speed Torque Position P02 12 NF Bandwidth 1 10 0 99 9 Speed Torque Position App3 1 Appendix 3 Parameter Table Parameter 2 Default set Menu explanation unit Setting range Control type P02 13 Notch Filter 2 0 4 9 Speed Torque Position P02 14 NF Frequency 2 50 0 2000 0 500 0 Speed Torque Position P02 15 NF Bandwidth 2 10 0 99 9 Speed Torque Position P02 16 TRQ Filter TC 0 0 1000 0 By capacity Speed Torque Position P0217 Auto Tuning 1 0 1 O Speed Torque Position P02 18 System Response 1 19 By capacity Speed Torque Position P02 19 Inertia Ratio 10 500 Speed Torque Position P02 20 GainADJSpeedt rpm 100 0 5000 0 800 0 Speed Torque Position P02 21 GainADJSpeed2 rpm 10 0 5000 1000 Speed Torque Position P02 22 Gain ADJ TRQ 1 96 50 0 300 0 150 0 Speed Torque Position P02 28 GainADJTRQ2 0 0 300 0 50 0 Speed Torque Position P02 24 ContactGainTC ms 0 0 100000 1000 Speed Torque Position P02 25 Temporary Stop
26. Rotary table N Speed pattern i Worm gear Servo motor S C Decelerato Process Process Process Prepare the motion program in the higher controller Enter the operating signal and operate the angle After angle operation position decision completion signal is sent out externally B Roll feeder 0 Pressor Feed roll Conveyor Servo motor Induction motor Deceleration pattern i Press Press Set the feed to the work Operate the position according to the feed start signal input from the press By using the position decision completion signal execute the press work The position decision completion signal and feed start signal can be interlocked on the sequenc App 1 3 Appendix 2 Noise Countermeasure Appendix 2 explains the noise countermeasure Appendix 2 1 Noise Type sisse sentn treten tete ntnn ente tentat tatnen st ttt tato App2 1 Appendix2 2 Noise Countermeasure sesenta tentent tete ttes App2 1 App 2 0 LS industrial Systems Appendix 2 Noise Countermeasure Appendix 2 1 Noise Type Noise can be classified into noise that can trigger mis operation of peripheral devices by high switching element in the power part and other electronic parts of the servo drive and the noise that comes from the external side and can cause mis operation of the servo drive Make sure the unit is not affected by the noise through proper grounding and wiring CD Cause
27. T P according to the specific position command type of negative or positive Alne ange p 3 logic Refer to Chapter 3 for details of the pulse type R input pulse PRIN 12 gc P P pe dons nd spod When operating in speed mode enter the analog speed command z SPDIN 27 E PEL OPES When operating in torque mode enter the analog speed limit PIDE gue When operating in torque mode enter the analog torque command command Analog torque TuS EP limit g torg When operating in speed mode enter the torque limit 2 9 Chapter 2 Wiring and Connection E 1 1 3 3 Signal content Name Pin num Function and usage explanation Designated variable value is outputted in 0 5 V range through the DA converter Monitor outpit 1 MON Monitor selection 0 Speed 1 Speed command 2 Torque 3 Torque command 4 Pulse 5 Command pulse Designated variable value is outputted in 0 5 V range through the DA converter Moni 2 MONIT2 2 eae Monitor selection 0 Speed 1 Speed command 2 Torque 3 Torque command 4 Pulse 5 Command pulse eG fie After dividing the motor encoder signal from CN2 as much as the division Eee OU PRO ree Bai rate set in the division setting menu it outputs in line drive method PZO PZO 530 ide As the external I O contact point power enter 24 VDC H 096 1 0 A or above for the external power 24 V Bower nri 24VIN 49 User preparation P
28. k CWLIM NTQLIM CCWLIM PTQLIM SPDOUT TRQOUT ALARM PCWOUT PTQOUT Not used Note 4 L FG The above input and output contact points are shown when setting the torque control mode contact point P07 01 P08 01 25 Note 1 NF standards for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the XDA S004 45 type connect the single phase AC220V V to the r t terminal supplementary power XDA S001 02 type does not have the supplementary power r t terminal Note 3 The recovery resistances of XDA S004 XDA S010 are installed inside the driver as an internal type The recovery resistance of the XDA S015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal 4 15 Manufactured Torque control default Display range 0 0 Chapter 4 Servo Using Method and Gain Adjustment 4 3 2 Gain adjustment of torque servo 0 0 2000 0 P06 01 Analog TRQ TC When the higher controller gives the torque command to the servo drive in analog voltage it sets the low bandwidth passing filter TC of the analog torque command When the analog torque command filter TC is set it can suppress the noise element of the set filter TC or higher When the analog torque command filter is used through the analog voltage it can reduce the effect of the nois
29. p 9 0 0 100 0 3 10 0 Manufactured Unit Display range eed Torque P06 07 10V TRO pay ag default pea 96 0 0 300 0 100 0 control This sets the command torque range applicable to t he 10 V analog voltage in speed control or torque control mode of the servo drive Manufactured Display range Speed Torque default A P06 08 uto Offset ON OFF control OFF It automatically adjusts the offset voltage of the servo drive for analog O V input of upper controller Manufactured Setting range Speed Torque default control M P06 09 anual Offset 1000 0 1000 0 0 0 3 22 Chapter 3 Parameter Setting 3 8 Input Contact Point Function Setting Manufactured Setting range eed Torque default bd q 0 30 1 Position control In P07 01 menu you can set the single pin 0 20 and set the pin 25 30 by control mode but in PO7 02 P07 12 menu you can only set the single pin setting 0 20 To set the pin by control mode enter the value of 25 30 in the P07 01 menu so that the menu of P07 01 P07 12 is automatically reset with the applicable mode pin setting For more details please refer to the CN function table in the next page Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Setting range 0 20 Manufactured default 9 M
30. 0 160 170 90 6 0 70 1 9 XDA S010 150 30 160 170 90 6 0 70 1 9 XDA S015 239 55 251 225 132 52 119 43 Stong cooling Dimension C XDA S020 239 55 251 225 132 52 119 44 FAN XDA S080 239 55 251 225 132 52 119 45 XDA S045 239 5 5 251 225 132 5 2 119 46 8 2 Appendix 1 Servo System Application Appendix 1 explains the application cases that can be utilized when applying the servo system Appendix 1 1 Position Control Application eee App 1 1 Appendix 1 2 Examples of Other Applications sss App 1 3 App 1 0 Appendix 1 Servo System Application Appendix1 1 Position Control Application Electronic gear ratio setting Input Servo Drive command pulse Servo Motor Electronic gear NUM Encod tex4 Electronic gear ratio MEME nn EN Command unit b x Decleracion ratio a This shows the case for every motor a revolution the load axis revolves b times The command unit shows the minimum command unit of the position data to move the load Encoder pulse rate Encoder type Encoder pulse rate ppr Incremental encoder 2000 6000 Absolute 11bit 2048 Serial 17bit 32768 Setting method of electronic gear CD Checkthe mechanical specification including deceleration ratio
31. 1000 2000 3000 1000 2000 3000 Revolution speed r min A Continuous duty zone amp B Intermittent duty zone Revolution speed r min Revolution speed r min Revolution speed r min App 5 5 Appendix 5 Servo Motor Specification E 3 Motor XMR LNO3 LNO6 LNO9 LN12 LN12A LN20 LN30 LN40 Drive XDA S 04 05 10 12 12 20 30 45 Flange Size L 130 180 Rated output W 300 600 900 1200 1200 2000 3000 4000 Rated current A rms 2 6 4 8 7 8 9 7 8 9 17 2 24 9 322 Max i ax instantaneous cure 78 120 1876 290 222 516 6234 966 A rms N m 2 86 5 72 8 6 11 5 11 5 19 1 28 6 38 2 Rated torque kgf cm 29 2 58 4 87 7 117 116 9 194 8 292 2 389 6 Max N m 8 6 14 3 22 1 34 4 28 7 57 3 71 6 114 6 instantaneous kgf cm 87 6 146 226 351 292 3 584 4 730 5 1168 8 torque Rated rpm r min 1000 Max rom r min 2000 Rotator inertia g cms 4 12 7 63 11 12 14 63 26 1 43 8 67 8 100 1 GD 4 kg m x 10 4 04 748 10 9 14 34 25 6 42 9 66 4 98 1 Allowable load inertia ratio 10 times or less Versus rotor Rated power rate kW s 20 5 43 3 68 2 91 7 514 84 9 123 4 148 6 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 55 7 0 8 5 10 0 12 9 18 2 26 8 36 1 Tor
32. 5 2 5 0 10 0 5 0 120 0 10 0 80 0 3 5 3 10 0 15 0 10 0 80 0 15 0 60 0 3 0 4 15 0 20 0 15 0 60 0 20 0 45 0 2 5 5 20 0 25 0 20 0 45 0 25 0 40 0 2 0 6 25 0 30 0 25 0 40 0 30 0 30 0 15 7 30 0 35 0 30 0 30 0 35 0 25 0 1 3 8 35 0 45 0 35 0 25 0 45 0 18 0 1 2 9 45 0 55 0 45 0 18 0 55 0 17 0 0 9 10 55 0 70 0 55 0 17 0 70 0 13 0 0 8 11 70 0 85 0 70 0 13 0 85 0 11 0 0 6 12 85 0 105 0 85 0 11 0 105 0 10 0 0 5 13 105 0 130 0 105 0 10 0 130 0 8 0 0 4 14 130 0 160 0 130 0 8 0 160 0 6 0 0 25 15 160 0 200 0 160 0 6 0 200 0 54 0 2 16 200 0 240 0 200 0 54 240 0 5 0 0 15 17 240 0 300 0 240 0 5 0 300 0 3 5 0 1 18 300 0 350 0 300 0 3 5 350 0 32 0 0 19 350 0 360 0 350 0 32 360 0 34 0 0 If you set the system response to high it increases the servo system gain to increase the response But if the set value is too high it can cause noise and vibration in the motor In this case appropriately lower the set value Chapter 4 Servo Using Method and Gain Adjustment 4 4 2 Auto tuning setting sequence START y Test operation with basic setting Does load inertia change Yes y Turn ON on line tuning mode P02 17 Repeated acceleration deceleration operation 500rmp or above Yes Operation OK t No Manually adjust system response P02 18 Yes Operation gt OK 2 No Y Turn OFF auto tuning mode Save tuning result Manually adjust load inertia P02 19 P02 19 eg END A
33. 5 Servo Operating Method E 5 3 2 Parameter change Even though the changeable range differs by the menu the operating method is the same and the case of P01 01 Motor ID is used as a representative example JOG Key Key Jog ON RESET Key Alarm reset ESTOP Key Emergency stop UP Key Mode change increase increase parameter value DOWN Key Mode change decrease decrease parameter value RIGHT Key Move right when changing menu and parameter LEFT Key Move left when changing menu and parameter ENTER Key Change parameter confirm parameter 5 10 Chapter 6 Troubleshooting and Check Chapter 6 explains the method of action and check for the issues that can occur during servo operation 61 TROUDISSIOGMING ep 6 1 P8 6 4 6 0 LS industrial Systems Chapter 6 Troubleshooting and Check fn 6 1 Troubleshooting 6 1 1 Servo motor Symptom Checking method Method of action Parameter Check the parameter of Reset parameter mis settin motor encoder encoder Refer to Chapter 3 9 type control mode etc Refer to Chapte Check the revolution l condition of the machine Re adjust the machine device The motor Measure the motor lead For normal voltage replace the does not one terminal with a tester start Check the connection part External mis wiring Check motor and encoder Rework on the wiring Cable
34. 7 1 Example of Connection with Upper Controller sess 7 1 E 3 Chapter 8 External View 8 1 External Dimension of Servo Drive sse nnne 8 1 Appendix 1 Servo System Application Appendix 1 1 Position Control Application esseeenes App 1 1 Appendix 1 2 Example of Other Application eee App 1 3 Appendix 2 Noise Resolution Appendix 2 1 Noise TYPE App 2 1 Appendix 2 2 Noise Resoulon uuvansssssnemennemsmenenununmumseena App 2 1 Appendix 3 Parameter Table Appendix 3 1 Parameter 1906 2aassssaeaedemeueeietsipudntitejane App 3 1 Appendix 4 Revision History Appendix 4 1 Revision History uvinesqusmnssp npnmjenmujm even joe App 4 1 Appendix 5 Servo Motor Specification Appendix 5 1 Servo Motor Specification ssssssssseees App 5 1 2 Chapter 1 Model Check and Handling E M XX 33 333 O Chapter 1 explains the details to check before using the servo drive and motor that you have purchased Before assembling the product check whether rated plate is as ordered Mishandling can disable normal operation or can significantly reduce the expected life span depending on the situation Because it can damage the servo in the worst case please read the details and precautions of each article for handling and use the product accordingly 1 1 cies penn 1 1 1 2 Servo Drive Specification
35. Bias SPDCOMPEN rpm 10000 10000 00 Position P05 21 BiasPulseBand puse 0 500 10 Position P05 22 Backlash Pulse pulse 0 99999 20 Position P06 08 Auto Offset ONOFF OFF Speed Torque P06 09 Manual Offset mV 1000 0 10000 0 0 Speed Torque Po7 01 JON 18 0 30 1 Speed Torque Position Po7 02 CN 43 072 9 Speed Torque Position Po7 03 ON 17 0720 10 SpeedTorque Position Po7 04 CN1 42 072 1 SpeedTorque Position P07 05 ON 16 072 3 Speed Torque Position P07 06 ON 41 072 4 SpeedTorque Position Po7 07 ON 315 072 13 Speed Torque Position P07 08 CN 40 0 20 14 Speed Torque Position P07 09 ON 14 0 20 12 Speed Torque Position App3 3 Appendix 3 Parameter Table Parameter Default set Menu explanation Unit Setting range Control type P07 10 CN1_39 Speed Torque Position P07 11 CN1 13 Speed Torque Position Speed Torque Position 6 Speed Torque Position Pog 04 ON 47 0 18 X 5 SpeedTorque Position Pogo5 ON 21 0 18 7 SpeedTorque Position Pos o6 ON 46 1 0 18 9 SpeedTorque Position P08 07 CN1 20 0 18 14 Speed Torque Position Pog 08 O
36. MONIT2 GND E E SVONOFF INSPD INPOS pep i eee BRAKE RDY y PCWOUT wk PTQOUT SPDOUT k TRQOUT w s ALARM illii NCWOUT PPFIN n k NTQOUT MEG Manual Pulse JODO0X PFIN 10 L3 v4 Generator or Not used PPRIN 9 k y EH GND24 PRIN 12 eg eal E s IPAO mon aje s Nee i ND 36 I PBO Repe 20 PZO Note 4 NL BE D A STOP SVONEN ALMRST SPDLIM TLIM PLSINH CWLIM NTQLIM CCWLIM PTQLIM a 8 PLC Position Locating Card ODO S The above input and output contact points are shown when setting the position control mode contact point P07 01 P08 01 27 Note 1 NF standards for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the XDA S004 45 type connect the single phase AC220V V to the r t terminal supplementary power XDA S001 02 type does not have the supplementary power r t terminal Note 3 The recovery resistances of XDA S004 XDA S010 are installed inside the driver as an internal type The recovery resistance of the XDA S015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal Chapter 4 Servo Using Method and Gain Adjustment 4 2 2 Position servo gain adjustment Feed forward TC P05 11 Different
37. Max instantaneous current 3 75 63 8 4 8 55 9 6 84 10 5 12 54 174 A rms N m 0 32 0 64 0 96 1 27 1 59 1 27 1 91 2 54 3 18 Rated torque kgf cm 325 6 5 9 75 13 0 16 2 13 0 19 5 26 0 32 5 Max N m 0 96 1 92 2 88 3 81 4 77 3 81 53 6 85 9 53 instantaneous kgf cm 9 75 19 5 29 3 39 0 48 7 39 0 54 5 70 2 97 5 torque Rated rom r min 3000 Max rpm r min 5000 Rotator inertia gf cm s 0 061 0 095 0 126 0 160 0 204 1 1 1 5 1 77 2 11 GD 4 kg m x10 006 0093 0 129 0 163 0 208 1 08 1 47 174 2 07 Allowable load inertia i 30 times or below 20 times or below ratio Versus rotor Rated power rate KW s 17 0 43 6 73 9 1085 126 1 150 248 374 49 0 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 83 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 0 85 1 14 1 43 1 73 2 03 21 2 55 3 1 37 Torque speed characteristics 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min CN04A CN06 CN10 Torque N m Torque N m 5 10 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous dut
38. Max Value Feedforward Feedforward 100 PC P Gain 4 12 Chapter 4 Servo Using Method and Gain Adjustment 7 Position command pulse TC setting Manufactured Display range P05 10 POSCMDTC default Position control 0 0 2000 0 0 0 Set the filter TC on the position command pulse input for smoothing operation in the position control mode If you would like to execute smoothing operation without setting the position command filter TC set the position decision mode setting of P05 03 to ON and it permits the acceleration deceleration P03 10 P03 11 and S mode operation P03 12 set in user menu P03 of speed command The smoothing operation is advantageous when reaching position decision in position control mode 8 This sets the PI P mode pulse error Manufactured Display range P05 07 PI P Pulse ERR default Position control 0 99999 0 If the error between command pulse and actual movement pulse exceeds the set value of P05 07 it switches to P control mode to suppress overshoot Command speed Speed m Actual speed Time sec Error pulse PI control i P control PI control gt lt Chapter 4 Servo Using Method and Gain Adjustment 4 3 Torque Servo Use This explains the torque servo using method and gain adjustment method The following diagram shows the occurring sequence of the current command during torque control pueuuoo ywi peeds JUIN euJo
39. Output contact point function table in the next page Manufactured Unit Display range Speed Torque P08 02 CN1 48 default B 0 18 3 Position control Manufactured Unit Display range Speed Torque P08 03 CN1 22 default L 0 18 6 Position control Manufactured Unit Display range Speed Torque P08 04 CN1 47 default 0 18 Position control Unit bo range Manufactured Speed orque CN1 21 Manufactured Unit Display range Speed Torque P08 06 CN1 46 default 0 18 9 Position control Manufactured P08 07 ON 20 Unit Display range EN Speed orque 0 18 Position control 14 Manufactured Unit Display range Speed Torque P08 08 CN1 45 default i 0 18 15 Position control Manufactured Unit Display range Speed Torque P08 09 CN1 19 default DE 0 18 16 Position control Manufactured i Displ ed T P08 10 CN1 44 Unit SPEY Tange default Spe Seer 0 18 17 Position control This sets the function of the output contact point function to check the operation of the servo drive by the upper controller When you set the function applicable for each output contact point the servo drive outputs the signal according to the set function Connect to the output contact point of the CN1 connector to use the desired function set from the menu If you duplicate the output contact point function setting you can have the same output signal from different pins 3 28 Chapter 3 Parameter Setting sn Output contact point function table
40. RDY Servo ready status output P08 04 CN1 47 6 Meld Set speed reach completion output P08 05 CN1 21 9 FO Torque limit status output Speed control TRQOUT P08 06 CN1 46 14 ALARM Alarm generation status output P08 07 CN1 20 10 um CCW torque limit status output Speed control P08 08 CN1 45 11 kl CW torque limit status output Speed control P08 09 CN1 19 5 ZSPD Zero speed reach output P08 10 CN1 44 0 Do not use the output function GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input x Output function setting table when P8 01 30 Position torque multi control mode internal setting function Parameter Output pin road Function acronym Function explanation number P08 01 CN1 23 2 TYPEOUT Control mode conversion output P08 02 CN1 48 3 BRAKE Brake operation signal output P08 03 CN1 22 7 RDY Servo ready status output P08 04 CN1 47 6 n em Set speed reach completion output P08 05 CN1 21 9 pide d Torque limit status output Speed control TRQOUT P08 06 CN1 46 14 ALARM Alarm generation status output P08 07 CN1 20 10 PONO CCW torque limit status output Speed control PTQOUT P08 08 CN1 45 11 iiid CW torque limit status output Speed control P08 09 CN1 19 4 ZTRQ Zero torque reach output P08 10 CN1 44 0 Do not use the output function GND24V CN1 24 25 24V common input EXT24V CN1 49 5 a 24V external input 3 32 Chapter 3 Parameter Setting 3 10 An
41. check the sequence and check the alarm record The basic movement is operates in X Y surface coordinate method of vertical axis UP and DOWN key and horizontal axis RIGHT and LEFT key RIGHT KEY LEFT KEY Motor and operating device parameter General control parameter Speed control parameter Internal speed torque L1 r1 LI NEN r1 J LL ee G setting LI I ll Position control parameter Torque control parameter Input contact point setting V When the power is initially connected the displayed screen differs depending on the coordinate StE 01 parameter For example if SIE 01 1203 12 refers to the StE menu and 03 to the SE 03 5 2 Chapter 5 Servo Operating Method o M 1 and 2 digit value Name of higher PO1 P02 POS P04 P05 P06 P07 P08 P09 JOG ALS StE menu mode mode mode mode mode mode mode mode mode mode mode mode 1 and 2 digit ande AM o o o 04 0 06 o 08 og 10 1 12 value Refer to each parameter item for the menu number of 3 and 4 digit 5 2 2 Parameter change The difference in the editing process of the internal mounter load and digital loader is whether one more operation is needed for the ENTER key to view the actual value of the menu item Intemal mounter loader operates in the X Y surface coordinate method w
42. default Pi Signal content Name xs Function and usage explanation i i 23 You can directly set the input contact point function from P7 01 Manufactured default Not use This is the output signal to operate the external brake Brake operation BRAKE 48 When on the brake power is supplied to enable motor operation Servo ready RDY 21 No alarm power good condition when the power is on ge INSPD INP 22 It goes on when it reaches the commanded uis OS INTRQ Speed Position Torque completion When used for speed control mode it indicates the Speed torque SPDOUT T 46 condition of the torque the servo motor is limiting limiting RQOUT When used for torque control mode it indicates the condition of the speed the servo motor is limiting zee Spes ZSPD 47 This indicates the stopped condition of the servo motor condition Alarm condition ALARM 20 When the alarm is detected it foes off During normal operation it goes on Alarm 0 CODE A CODEO 45 It outputs alarm CODEO Alarm 1 CODE A_CODE1 19 It outputs alarm CODE1 Alarm2 CODE A CODE2 44 It outputs alarm CODE2 For details on the output contact point function change refer to the PO8 mode of Chapter 3 2 3 5 Fixed I O signal function table Signal content Name Pin num Function and usage explanation F i PPFIN 11 bs i PFIN 10 Depending on the set value of pulse logic it receives and operates
43. disconnection wiring Replace the cable Check the output wave Replace the encoder Check the connection of the motor lead terminal Repair the wrong parts dd id Low input voltage Check the drive input voltage Change the power unstable Remove any particle on the Overload ke machine revolution part and supply lubricant or grease Check the surrounding High ambient temperature of the motor temperature installation part 40 C or below T Check whether there are any Contamination on Motor is motor surface id particles on the motor Clean motor surface vai surface heated Check the load rate of the Overload drive Check the Reduce load Increase acceleration deceleration acceleration deceleration time frequency Check the comparator LOW Inag rene Powe ot voltage and voltage wave Replace the motor magnet shape Check the screw condition of Coupling defect the coupling and copper core Readjust the coupling of the connection part etc Weird Check the bearing vibration sound is Bearing problem Contact our company generated Parameter mis setting Motor encoder ID inertia ratio gain TC Change heating structure Refer to parameter setting method Check the control parameter in chapter 3 6 1 Chapter 6 Troubleshooting and Check 6 1 2 Servo drive When an alarm is generated the problem signal output contact point ALARM goes OFF and the motor is stopped by dynamic brake Displa
44. of noise copied from servo drive High carrier frequency chopping Use of electronic parts such as microprocessors Electronic inductance and static electricity noise generation by I O line of servo drive 2 Cause of noise coming from external side to cause mis operation Copy noise by power line Electronic contactor electronic brake and relay use Use of device that generates a lot of noise such as electric welding machine Appendix 2 2 Noise Countermeasure D Countermeasure of noise copied from servo drive The noise generated from the servo drive can be classified into noise copied from wire connected to drive I O and noise induced electronically or statically by peripheral device near the main circuit wire The countermeasure of this noise is as follows Install and wire the peripheral device that has a noise effect to the servo drive as far as possible Do not install the signal wire of peripheral devices in parallel or groups with the I O line of the servo drive Use a shield wire or individual metal duct for the I O wire of servo drive and signal wire of peripheral devices 2 Countermeasure of noise that came from externally to cause mis operation of the servo drive Always install a surge killer on the peripheral device that causes the noise Ground the encoder wiring and I O signal wire to the clamp metal decoration within the cable Attach a line filter on the signal wire When a closed loop has been formed by e
45. to XDA 5000S enter the 4 multiple value and the setting range is 16384 131072 Manufactured default XDA S000 2000 XDA S000S 32768 3 6 Chapter 3 Parameter Setting Display range Manufactured default Speed Torque 0 3 0 Position control COM Baud Rate Select the communications speed Set the communications speed of the transmitting side main unit But it is only applied to the RS483 communications channel Set value Serial communication baud rate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Display range Manufactured default Speed Torque Serial Select T 0 2 0 Position control You can use the analog speed analog torque input and pulse input using the serial communication and communication card Refer to the following Set value Content Analog speed torque and pulse command through CN1 Speed torque and position data command by serial communication Speed torque and position data command by communication card 0 Serial llO Display range Manufactured default Speed Torque 0 2 0 Position control Set this when using the I O contact point by communications Set value Content 0 I O contact point use through CN1 I O contact point use by communications RS232C RS485 I O contact point use by communications card Device Net Unit Display range Manufactured default eed Torque P01 18 Serial ID pay rang
46. 0 0 Display range 0 0 2000 0 Display range 1 99999 Display range 1 99999 Display range 1 99999 Display range 1 99999 Manufactured default 0 0 Manufactured default By capacity Manufactured default By capacity Manufactured default 0 Manufactured default 100 Manufactured default 30000 Manufactured default 0 0 Manufactured default 0 0 Manufactured default 1 Manufactured default 1 Manufactured default 1 Manufactured default 2 Position control Position control Position control Position control Position control Position control Position control Position control Position control Position control Position control Position control Chapter 3 Parameter Setting oss Boome U CUT uar memes P05 16 1 99999 default 1 mer Hep ranas Manufactured i P05 17 ELCTR Gear DEN3 default Position control 1 99999 4 Manufactured Unit Display range P05 18 ELCTR Gear NUM4 default Position control 1 99999 1 Unit Display range eee P05 19 ELCTR Gear DEN4 Po default Position control 1 99999 8 Unit Display range vanes 2 Bias SPD COMPEN default Position control Posa rpm 1000 0 1000 0 00 To reduce the position decision time in position control mode it adds the internal compensated speed of the servo drive to reduce the position decision time Manufactured default Position control 10 Display range 0 500 Bias Pulse Band
47. 01 menu 28 SETUP4 Use speed torque ou control mode internal setting function Can only be entered in P08 01 menu 29 SETUPS Use speed position men control mode internal setting function Can only be entered in P08 01 menu 30 SETUPG Use position torque mul control mode internal setting function Can only be entered in P08 01 menu 3 29 Chapter 3 Parameter Setting X Output function setting table when P8 01 25 Torque control mode internal setting function Parameter Output pin ooo Function acronym Function explanation number P08 01 CN1 23 1 SVONOFF Servo on off operation output P08 02 CN1 48 3 BRAKE Brake operation signal output P08 03 CN1 22 7 RDY Servo ready status output P08 04 CN1 47 6 MUS Set torque reach completion output P08 05 CN1 21 9 lichen Speed limit status output Torque control TRQOUT P08 06 CN1 46 14 ALARM Alarm generation status output P08 07 CN1 20 10 PCWOUT CCW revolution speed limit status output PTQOUT Torque control P08 08 CN1 45 11 NCWOUT CW revolution speed limit status output NTQOUT Torque control P08 09 CN1 19 4 ZTRQ Zero torque reach output P08 10 CN1 44 0 Do not use output function GND24V CN1 24 25 24V common input EXT24V CN1 49 s 24N external input X Output function setting table when P8 01 26 Speed control mode internal setting function Parameter Output pin pe
48. 1 19 0 Do not use the output function P08 10 CN1 44 0 Do not use the output function GND24V CN1 24 25 24V common input EXT24V CN1 49 s 24N external input xX Output function setting table when P8 01 28 Speed torque multi control mode internal setting function Function Parameter Output pin Function acronym Function explanation number P08 01 CN1 23 2 TYPEOUT Control mode conversion output P08 02 CN1 48 3 BRAKE Brake operation signal output P08 03 CN1 22 7 RDY Servo ready status output P08 04 CN1 47 6 n em Set speed reach completion output P08 05 CN1 21 9 pide d Torque limit status output Speed control TRQOUT P08 06 CN1 46 14 ALARM Alarm generation status output P08 07 CN1 20 10 PONO CCW torque limit status output Speed control PTQOUT P08 08 CN1 45 11 Se CW torque limit status output Speed control P08 09 CN1 19 5 ZSPD Zero speed reach output P08 10 CN1 44 4 ZTRQ Zero torque reach output GND24V CN1 24 25 24V common input EXT24V CN1 49 5 24V external input 3 31 Chapter 3 Parameter Setting xX Output function setting table when P8 01 29 Speed position multi control mode intemal setting function Parameter Output pin Bales Function acronym Function explanation number P08 01 CN1 23 2 TYPEOUT Control mode conversion output P08 02 CN1 48 3 BRAKE Brake operation signal output P08 03 CN1 22 7
49. 18 0 55 0 17 0 0 9 10 55 0 70 0 55 0 17 0 70 0 13 0 0 8 11 70 0 85 0 70 0 13 0 85 0 11 0 0 6 12 85 0 105 0 85 0 11 0 105 0 10 0 0 5 13 105 0 130 0 105 0 10 0 130 0 8 0 0 4 14 130 0 160 0 130 0 8 0 160 0 6 0 0 25 15 160 0 200 0 160 0 6 0 200 0 54 0 2 16 200 0 240 0 200 0 54 240 0 5 0 0 15 17 240 0 300 0 240 0 5 0 300 0 3 5 0 1 18 300 0 350 0 300 0 3 5 350 0 32 0 0 19 350 0 360 0 350 0 32 360 0 34 0 0 Display range Manufactured default Speed Torque Inertia Ratio 1 0 50 0 2 0 Position control Display range Manufactured default Speed Torque in AD 1 Gain ADJ Speed 100 0 5000 0 800 0 Position control Gain ADJ Speed2 Display range Manufactured default Speed Torque 10 0 500 0 100 0 Position control When executing the control gain conversion by operation speed of the servo motor it decides the speed converted by the control gain 3 11 Chapter 3 Parameter Setting Conversion operation Speed Command speed a Actual speed H J Q 2 H E Display range Manufactured default Speed Torque 50 0 300 0 150 0 Position control Gain ADJ TRQ1 Display range Manufactured default Speed Torque 0 0 300 0 50 0 Position control Gain ADJ TRQ2 When executing the control gain conversion by operating torque of the servo motor it decides the torque converted by the control gain Conversion operation Speed Command sp
50. 2 20 30 Flange Size LI 130 180 Rated output W 300 600 900 1200 2000 3000 Rated current A rms 25 47 7 2 9 8 16 0 24 3 Max instantaneous current 75 13 65 19 21 29 32 48 0 67 34 A rms N m 2 84 5 68 8 62 11 5 19 1 284 Rated torque kgf cm 29 58 88 117 195 290 Max N m 87 16 5 23 0 34 4 573 787 instantaneous kgf cm 90 169 235 351 585 803 torque Rated rpm r min 1000 Max rpm r min 2000 Rotator inertia gems 10 5 155 253 65 3 100 5 159 1 GD7 4 kg m x 104 103 152 248 640 985 156 Allowable load inertia ratio i 10 times or less Versus rotor Rated power rate kW s 7 85 21 3 30 0 20 5 37 0 51 8 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 82 11 6 158 172 274 383 Torque speed characteristics LFO3 LFO6 LFO9 Torque N m Torque N m Torque N m x e N m xg e N m xq e N m 16 20 S 12 15 8 10 L d Een 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 Revolution speed r min Revolution speed r min Revolution speed r min LF12 LF20 LF30 Torque N m Torque N m Torque N m ry N m ra N m i N m 48 64 36 48 24 32 500 1000 1500 2000 Revolution speed r min 500 1000 1500 2000 Revolution speed r min A Continuous duty zone amp B Intermittent duty zone 500 1000 1500 2000 Revolution speed r min App 5 9
51. 21 0d LL 0d eum uoneieje2eq o or 011 uomnejedo paow S 01 0d euim uonerejeoov 000L O 440 440 Y NO NO NO 4 o D 20 v0d peads indui peysa i Q i d M NO NO 440 4 uomeJedo 4 loj 5 q meee q 90 b0d 9peeds indui reubia D c apow S uogiejeooy E E o NO 34O NO 4 5 t idi t Ss AND 50 r0d gpeeds indu rebia J 3 NO 440 430 4 c le ula 4018 v0 r0d rpeads indui reubia Z OD x d 4340 NO NO 4 C 5 chee eee piesa 0 r0d Epeeds indui reubia s E 440 NO 440 4 i ji g 5 20 0d zpeeds indui 2161 ES 340 440 NO 4 E o Q L0 v0d Lpeeds indui jeubia oO 5 g g 2 caas zads Laas i if i co ciiseies pueuiubsipeside Z 1 0d 1uawsnfpe one 81 0d o oO E eDeyo 18540 Bunes eDeyo 1esyO E 23 o WY 5 g UO 2 G lt x SE lt 95 ne og 3 F Ut o 4 1 Chapter 4 Servo Using Method and Gain Adjustment E 33 4 1 1 CN1 wiring diagram when using speed servo Power AC 200 230V 50 60Hz NFB hw Note 1 Regenerative resistor Note 3 Note 4 MC1 QR o OS Note 2 CN1 Input 24V ESTOP SPD1 GEAR1 GEAR2 SPD3 i i STOP SVONEN ALMRST SPDLIM TLIM PI P CWLIM NTQLIM WLIM PTQLIM i OT Q
52. 8 R 5 PZO GND Ee rm x IPZO 4 GND p FG 50 Gls Note 1 NF standards for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the XDA S004 45 type connect the single phase AC220V V to the r t terminal supplementary power XDA S001 02 type does not have the supplementary power r t terminal Note 3 The recovery resistances of XDA S004 XDA S010 are installed inside the driver as an internal type The regenerated resistance of the XDA S015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal Chapter 2 Wiring and Connection 2 3 3 Changeable input signal function table Based on manufactured default 2 8 Signal content Term Pin No Function and usage explanation It decides whether the servo motor can be operated or not Servo drive Enable SVONEN 18 p ON Enable OFF not Enable ed selection 1 Spe lection 1 SPD1 Electronic gear 43 selection 1 GEAR1 Internal command speed selection by 3 signal SPD1 SPD2 SPD3 combination Speed control Speed selection 2 od SPD2 Electronic gear 17 GEAR2 selection 2 i i Electronic gear ratio selection by 2 signal GEAR1 GEAR2 combination Position control Speed selection 3 SPD3 42 Selects the Speed Position Torque input direction Direction selection DIR 16 O
53. 8 Absolute 11 13bit o8 309 30 Absolute 10 1000 55 P 131072 Incremental common 17 33bit 12 1200 13 1300 1 1 Chapter 1 Model Check and Handling 1 2 Servo Drive Specification 002 o ws 006 ao o os Input voltage frequency 3 phase AC200 230V 50 60Hz 5 3 phase AC200 230V 50 60Hz Main circuit power Permitted voltage variance 3 phase AC170 253V Input voltage range 10 15 3 phase AC170 253V 2 phase AC207 253V Input voltage range 10 10 Input voltage frequenc Single phase AC200 230V 50 60Hz 5 Control circuit p 9 y No separate Sep Permitted voltage variance power input part Single phase AC170 253V Input voltage range 10 15 rate Detect 17 33 bit serial encoder 11 13 bit absolute encoder incremental 2000 6000 ppr etector type bp 15 line type Detector Output signal type Differential Line Driver output Detector accuracy Maximum of 131072 pulse per 1 encoder revolution Detector power DC 5 M 0 3 A or below She wee PMc Fen Speed control range Intemal speed command 1 5000 analog speed command 1 2000 Freq response characteristics 600 Hz Speed command input DC 0 10 V maximum speed Can be adjusted with parameter d M peed Can be adjusted with parameter 0 01 or below Rated load 0 100 specification Speed fluctuation rate 0 01 or below Rated power voltage 10 96 X 0 1 or below Temperature variance 25 25 C Acc Dec
54. Controller Connection with LS Industrial Systems XGT series position decision unit XGF PO1 2 3A Open Collector gt This is an example of position control mode servo system operation XGT SERVO XDA S R Power AC eie i 200 230V 50 60 Hz ef XGF PO1 2 3A bar DARVIN GND24V ENG HOME 45V HOME COM Mna V MPG A O Pus 2 I maa SIE DC g 3 MPG Bt VIP ov MPGB Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to tum on the main circuit power of servo drive It only has the signals related to XGF PO1 2 3A and XDA S Series Note The above connection is only shown in case of P07 01 27 Position control mode Note It can be changed according to APM settings Chapter 7 Connection with Upper Controller Connection with Electric position decision unit XGF PD1 2 3A Line Driver gt This is an example of speed control mode servo system operation SERVO Motor XGT SERVO Power AC XDA S 200 230V 50 60 Hz HOME 5V HOME COM Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection
55. FF Positive direction selected ON Negative direction selected Extreme limit signal input on CCW axis Speed control CCW limit CCWLIM i ET a D 15 Positive torque generation prohibited Torque control Positive torque limit PTQLIM M ON Cancel OFF Prohibited CW limit CWLIM TH ni signal hee on oo ea 2 a egative tor Negative tongue tini NTQLIM gative torque genera on prohibited Torque control ON Cancel OFF Prohibited Speed limit use input contact point Torque control Speed limit SPDLIM TL 14 Selects whether to use torque limit Analog input and digital Torque limit IM torque input can be used according to the combination of TRQ1 TRQ2 and TRQ3 Speed control Alarm reset ALMRST 38 This cancels the alarm condition In case of external emergency it overrides all input condition of the servo drive and quickly decelerates the motor to free run the Emergency stop ESTOP 39 motor You can select the ON OFF contact point in parameter P02 26 PVP control PIP 4 It selects the type of speed controller OFF PI control ON P control It starts or stops the motor operation You can select the ON OFF contact point in parameter P02 25 Stop Start STOP 13 Me When setting P02 25 to OFF Close Stop Open Start For details on the input contact point function change refer to the PO7 mode of Chapter 3 Chapter 2 Wiring and Connection 2 3 4 Changeable output signal function table Based on manufactured
56. Max N m 8 6 14 2 22 5 31 5 31 3 50 1 654 instantaneous kgf cm 87 6 145 230 321 321 510 667 5 torque Rated rpm r min 2000 Max rpm r min 3000 Rotator gems 4 12 7 63 11 12 14 63 26 1 43 8 67 8 iya kg m x 10 4 04 7 48 10 9 14 34 25 6 42 9 66 4 GD 4 kg m x 10 i E Allowable load inertia ratio i 10 times or less Versus rotor Rated power rate KW s 20 4 30 6 53 5 76 7 43 0 64 7 103 0 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 55 70 8 5 10 0 12 9 18 2 26 8 Torque speed characteristics KNO6A KN11 KN16 KN22 Torque N m Torque N m Torque N m Torque N m ER etim oo metn 12 20 24 9 15 18 ME MEM i 6 10 12 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min CN50A KNO3 KNO5 KNO6 KNO7 Torque N m Torque N m 10 5 8 4 6 3 4 2 1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone App 5 4 Appendix 5 Servo Motor Specification UU M
57. N 45 0 18 15 SpeedTorque Position 0 18 Speed Torque Position P08 10 ON 44 J 0 18 i7 SpeedTorque Position P09 01 Monitort J 0 5 O Speed Torque Position P09 02 Monitor ABS1 ONOFF OFF Speed Torque Position 1000 0 1000 0 00 Speed Torque Position Monior2 OFF 1 0 OF 16 15 19 Speed Torque Position 3 fas 16 e a 4 ef Po7 12 fom 38 1 19 Speed Torque Position Pe 0 E MEINEM Monitor2 0 5 3 1 Speed Torque Position ONOFF OFF Speed Torque Position 10 Speed Torque Position 1000 0 1000 0 0 0 Speed Torque Position ONOFF OFF Speed Torque Position EE mv MED P09 07 MonitorScale2 04 20000 mv cee rpm mV mV rpm JOG 03 AutoJogMode 0 2 O Speed Torque Position s rev s rev s rev s rev ALS 01 CurentAam mor Speed Torque Position ALS 02 AlammReet ONOFF OFF Speed Torque Position ALS 03 AlmmHistoy 0 32 0 Speed Torque Position ALS 04 AlammHitoy 0 32 0 Speed Torque Position ALS 05 AlarmHistoy3 0 32 20 Speed Torque Position ALS 06 AlarmHistory4 0 32 0 Speed Torque Position ALS 07 AlarmHistorys 20 32 0 Speed Torque Position ALS 08 AlmmHitoy 0 32 0 Speed Torque Position
58. OTOR L 160 80 series side MOTOR L1130 180 series side k Connector pin no for encoder Connector pin no for encoder C ENE o 2 2 BR Signal name Connect the grounding wire of the encoder wiring cable for F G Applied cable specification AWG24 x 9Pair TWIST SHIELDED CABLE Maximum length 20m 2 12 Chapter 2 Wiring and Connection M 2 4 3 When using 17bit absolute incremental encoder CN2 is the connector located on the central right side of the front side of the operating device This connector is used for connecting the operating device and the encoder of the servo drive The PIN arrangement shown from the connector in the user s point of view is as follows The encoder signals may differ depending on the type of encoder Based on soldering side of user connector The connector for CN2 is optional For incremental 17bit encoder you do not need to connect the No 7 BT and No 8 BT terminal Manufacturer 3M CASE product name 10320 52F0 008 Connector for soldering 10120 3000VE The 17bit absolute encoder wiring details of CN2 and XMR series AC servo motor are shown as the following table MOTOR L 160 80 series side MOTOR L1130 180 series side Connector pin no for encoder Connector pin no for encoder 2 Signal name Connect the grounding wire of the encoder wiring cable for F G Y Applied cable specifica
59. Rotator inertia gems 10 5 15 5 25 3 65 3 100 5 159 1 GD 4 kg n x 10 10 3 152 248 64 0 98 5 156 Allowable load inertia ratio 10 times or less Versus rotor Rated power rate kW s 123 150 20 7 172 28 2 364 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weight kg 82 11 6 158 172 274 383 Torque speed characteristics KFO08 KF10 KF15 Torque N m Torque N m Torque N m 15 15 25 y NI x EN 9 9 l5 6 6 10 3 5 Ce La 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min KF22 KF35 KF50 Torque N m Torque N m Torque N m m Nm H xa Nm 28 40 60 21 30 45 14 20 30 A A A 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min A Continuous duty zone B Intermittent duty zone Revolution speed r min App 5 7 Appendix 5 Servo Motor Specification E 3 Motor XMR TF05 TFO9 TF13 TF20 TF30 TF44 Drive XDA S 05 10 15 20 30 45 Flange Size LJ 130 180 Rated output W 450 850 1300 1800 2900 4400 Rated current A rms 4 0 7 0 10 7 148 21 7 34 5 Max instantaneous current 12 0 19 0 31 7 444 65 1 95 83 A rms N m 2 87 5 41 8 27 11 5 18 6 279 Rated torque kgf cm
60. S wa 2 3 Chapter 2 Wiring and Connection AC SERV XDA S008 cae XDA S004 XDA S005 Operating device XDA S010 Wire thickness AWG 16 1 25mm AWG 14 2 0mm2 AWG 12 3 5mm GMC 12 13A GMC 40 35A level product level product AB S33b 10A level product NOSEFLTER FILTER NFZ 4030SG 30A Internal regenerated resistance 70W 500 MC and Breaker LS INDUSTRIAL SYSTEMS http www lsis biz V NOISE FILTER Samil Components http www samilemc com x For the wiring of small mid capacity socket execute in the following order After checking the wire thickness indicated in 2 2 1 remove the wire coating The coating of the wire to be used should be 8 9mm or less The thickness of the wire permitted by the socket is as follows Wire type Permitted wire thickness Single wire 00 5 0 8 mm Twisted wire AWG28 AWG12 Even though you can use the wire as is after removing the coating for safety purposes put a phenol end to press with the phenol end presser Open the terminal plug wire inserting hole with the lever as shown in the following picture Insert the core part of the wire to the opening part Release the lever after inserting the wire Lightly pull it out to see whether there is any problem in the connected condition of the socket and the wire When the coating of the wire is not completely inserted it can cause electric shock Therefore check w
61. Sp 3 1 31 Position control Unit Displa Manufact a fault d T play range anufactured defau Speed Torque ON OFF Position control 3 7 Chapter 3 Parameter Setting Display range Manufactured default Speed Torque Absolute Origin E ON OFF OFF Position control You can execute encoder origin when applying 17bit 2048 absolute encoder When you enter ON for the parameter it changes to OFF and resets the Multi Turn data 3 3 General Control Parameter Setting Unit Display range Manufactured default Speed Torque 0 5 1 Position control Control Mode The conversion of control mode cannot be changed when the servo is turned on Set value yis xe pon Applied control mode condition 0 Torque control mode 1 Speed control mode 2 Position control mode ON Speed control mode OFF Torque control mode ON Speed control mode i OFF Position control mode ON Position control mode 2 OFF Torque control mode Manufactured Display range Speed Torque faul 100 0 10000 0 all Position control 500 0 Mode Change Time When the servo drive is set to multiple control mode decelerate the servo motor during the set control mode conversion time for the conversion contact point input of the control mode to convert to control mode when the speed is zero Display range Manufactured default Speed Torque CCW TRQ LMT i 0 0 300 0 300 0 Position control Display
62. act point P07 11 CN1 13 14 CWLIM NTQLIM CW torque generation limit input contact point P07 12 CN1 38 12 SPDLIM TLIM Speed limit use input contact point GND24V CN1 24 25 24V common input EXT24V CN1 49 x 24V external input X Speed control mode internal setting function table When P7 01 is set to 26 Speed control mode 1 Function 3 Parameter Input pin Function acronym Function explanation number P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input contact point P07 03 CN1 17 16 ESTOP Emergency stop input contact point P07 04 CN1 42 19 ALMRST Alarm reset input contact point P07 05 CN1 16 4 PIP P PI control mode conversion input contact point P07 06 CN1 41 9 SPD1 GEAR1 Digital speed input contact point 1 P07 07 CN1 15 10 SPD2 GEAR2 Digital speed input contact point 2 P07 08 CN1 40 11 SPD3 Digital speed input contact point 3 P07 09 CN1 14 3 DIR Speed direction conversion input contact point P07 10 CN1 39 13 CCWLIM PTQLIM CCW revolution limit input contact point P07 11 CN1 13 14 CWLIM NTQLIM CW revolution limit input contact point P07 12 CN1 38 12 SPDLIM TLIM Torque limit use input contact point GND24V CN1 24 25 24N common input EXT24V CN1 49 z 24V external input 3 25 Chapter 3 Parameter Setting Position control mode internal setting function table When P7 01 is set to 27 Positi
63. al carefully before installing wiring operating servicing or inspecting this equipment m eKeep this manual within easy reach for quick reference LS Industrial Systems M Essential notes before use A Checking Motor ID certainly Enter the motor ID indicated on the motor name plate to the parameter of P01 01 And then for details on the motor ID refer to Chapter 3 of the user manual B Checking Drive AMP Type certainly AMP Type 1 2 4 1 1 2 4 XDA S 0 0 0 05 08 0 5 0 30 5 P01 11 1 2 4 1 1 2 4 Drive ID 5 8 0 5 0 30 5 C Checking encoder ID certainly ABS INC ABS Manual INC INC INC INC INC INC Encoder Type Sting 2000 2500 3000 5000 6000 2048 d ui 9 13bit 33bit 33bit P01 12 Enc O EncA Encb Enc C Encd Enc E Enc F Enc G Enc P Enc R Encoder ID When you set the encoder ID to Enc 0 you can change the value of P01 13 Encoder pulse rate But if you set the encoder ID to Enc A Enc R you cannot change the value of P01 13 D Cancel auto tuning during normal operation Always cancel the auto tuning during normal operation after gain setting using auto tuning E Motor handling Avoid Impacting to the encoder in connecting coupling to the Motor shaft or operating F Recommended specification of encoder wiring Enc
64. alog Monitor Function Setting The internal speed command speed torque command torque feedback pulse and command pulse of the servo can be monitored externally through analog monitor 1 and monitor 2 The output voltage range is 5 V 5 V The following are the parameters related to the monitor use Manufactured Unit Display range Speed Torque P09 01 Monitor1 default p 0 5 Position control Manufactured Unit Display range Speed Torque P09 05 Monitor2 default i 0 5 1 Position control This sets the parameter to monitor the internal variable of the servo drive in analog output Set value 0 1 2 3 4 5 Command Command Feedback Command Monitoring Actual speed Actual torque variable rpm speed e torque pulse pulse rpm 96 pulse pulse When the monitoring scale value is 1 the maximum speed output is 5 V and maximum torque 3 Rated torque is 5 V Manufactured P09 02 Monitor ABS1 nt Display range dad Speed Torque iios ON OFF OFF Position control Manufactured P09 06 Monitor ABS2 2m Display range te Speed Torque s ON OFF OFF Position control OFF Output by distinguishing the sign ON Output in absolute value without distinguishing the sign Manufactured Monitor Scale1 Display range diti Speed Torque 0 1 2000 0 10 Position control Manufactured Display range Speed Torque Monitor Scale2 default M 0 1 2000 0 10 Position control Basic ratio
65. anufactured default 10 Manufactured default 11 Manufactured default 3 Manufactured default 4 Manufactured default 13 Manufactured default 14 Manufactured default 12 Manufactured default 16 Manufactured default 15 Manufactured default 19 Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control This sets the input contact point function to control the operation of the servo drive from the upper controller When you set the function applicable for each input contact point the servo drive executes the set functions Connect to the pin allocated as the input contact point of the CN1 connector and you can set and use the desired function from the menu You can arrange the input contact point in multiple arrangements so that other pins can have the same function 3 23 Chapter 3 Parameter Setting Input contact point function table Function n A Function acronym Function explanation number 0 Do not use applicable input pin 1 SVONEN Servo on off operation input contact point 2 TYPE When the control mode is multi
66. arm content A CODEO A CODE1 A CODE2 A CODE3 number Normal Normal condition 0 0 0 0 00 EMER STOP Emergency stop alarm 1 0 0 0 01 OVER CURNT Servo over current alarm 0 1 0 0 02 OVER VOLT Servo over voltage alarm 1 1 0 0 03 OVERLOAD Overload alarm 0 0 1 0 04 POWER FAIL Servo insufficient voltage alarm 1 0 1 0 05 LINE FAIL Encoder missed operation alarm 0 1 1 0 06 OVERSPEED Over speed alarm 1 1 1 0 07 FOLLOW ERR Location following error alarm 0 0 0 1 08 OUTPUT NC Output NC alarm 1 0 0 1 09 PPR ERROR Encoder pulse rate setting alarm 0 1 0 1 10 ABS DATA Absolute encoder data error alarm 1 1 0 1 11 ABS BATT Absolute encoder battery low alarm 0 0 1 1 12 ABS MDER Absolute encoder multi turns data transmission error 1 0 1 1 alarm 13 OUTPUT EC Output mis wiring alarm 0 1 1 1 3 36 Chapter 3 Parameter Setting Manufactured Displ eed Torque PE default id 3 ON OFF OFF Position control ALS 02 Alarm Reset This resets and initializes the occurred alarm Check and remove the cause of the alarm before resetting the alarm and then reset the alarm Refer to the alarm cause and resolution details Alarm History1 Manufactured y Indicated range Speed Torque default E 0 32 Position control Alarm History10 0 This is the menu that stores and shows the alarm history The user cannot set this arbitrarily Manufactured Display range Speed Torque Hi R faul AS nins ON OFF pin Position control It resets and initializes the o
67. at occurs during conversion of revolution direction Load COMPEN Display range 0 0 100 0 Manufactured default 0 0 Speed position control This sets the external load compensation coefficient to improve the response of the servo motor for the sudden load change 3 14 Unit P03 05 SC Loop Gain1 S Unit Unit Display range 0 0 1000 0 Display range 0 0 10000 0 Display range 0 0 1000 0 Manufactured default By capacity Manufactured default By capacity Manufactured default By capacity Speed position control Speed position control Speed position control Unit iii E ms Unit Unit P03 10 ACCEL Time ms P03 11 DECEL Time ms Unit P03 12 S Mode TC E ms P03 13 In Speed Ran EM ed Range m P03 14 Zero Speed Range Unit rpm UT rpm P03 16 10 V RPM Set speed P03 15 Display range 0 0 10000 0 Display range 0 0 2000 0 Display range 0 0 90000 0 Display range 0 0 90000 0 Display range 0 0 9000 0 Display range 0 0 9999 9 Display range 0 0 9999 9 Display range 0 0 9999 9 Display range 9999 9 0 0 Chapter 3 Parameter Setting Manufactured default By capacity Manufactured default 0 0 Manufactured default 0 0 Manufactured default 0 0 Manufactured default 0 0 Manufactured default 10 0 Manufactured default 10 0 Manufactured default Applied motor rated speed Voltag
68. ation Return to OFF after resetting As the function to reset the alarm generated in the current system the alarm reset menu is the same function as external input reset Chapter 5 Servo Operating Method sa 3 Alarm record display menu Alarm record display menu saves the latest 10 alarms in each menu in the sequence of ALS 03 ALS 12 The following diagram is the case assuming that the over current 01 alarm is generated after the encoder mis wiring 05 alarm is generated during servo operation Emergency stop alarm emc stop is not saved in the alarm record and each alarm record menu value is 00 for normal operation Alarm record 1 Over current alarm Alarm record 2 Encoder mis wiring Alarm record 1 It indicates normal condition Chapter 5 Servo Operating Method E bDUD i 5 2 4 Jog operation 1 Key jog mode setting JOG 01 UP Positive direction mode change increase blinking value DOWN Negative direction mode change decrease in blinking value LEFT Command reverse direction revolution move blink to left when entering key jog speed JOG 02 RIGHT Command positive direction revolution move blink to left when entering key jog speed JOG 02 ENTER Indicates parameter value start and end of parameter change Key JOG speed setting Key JOG operation mar MY Im MI LILILI LIL LILILI LII ENTER ENTER ENTER Key JOG operation ON ENTER Key JOG speed
69. ball screw pitch etc Deceleration ratio Pitch P 2 It decides the minimum unit command unit of the position data moving the load by each pulse When moving the table by 0 001 mm for 1 Pulse the command unit is 0 001 mm 3 Calculate the load movement per 1 revolution of load axis in command unit Command unit 0 001 mm ball screw pitch 5 mm Load movement per 1 revolution of load axis Command unit 5 0 001 5000 Command unit 4 For the case of deceleration ratio b a calculate the electronic gear ratio NUM Encod tex4 Electronic gear ratio Y mi EN Command unit The calculation result of electronic gear ratio numerator electronic gear ratio denominator must be between 0 05 and 20 b x Decleracion ratio a 6 Setthe applicable parameter Position completion range setting App 1 1 Appendix 1 Servo System Application In position control mode set the position reach range to output position decision status in pulse rate If the error pulse is within the set pulse range the output pin set with the position reach output function in the user menu P08 outputs the position decision reach signal Command speed m Actual speed gt Time sec In position completion range ON In position completion OFF Time sec App 1 2 Appendix 1 Servo System Application nnn Appendix 1 2 Example of Other Application A Rotary table
70. ccurred alarm history 3 37 Chapter 4 Servo Using Method and Gain Adjustment E Chapter 4 explains the servo using method and gain adjustment by each control mode 4 1 Gain Adjustment Method when Using Speed Servo sss 4 1 4 2 Gain Adjustment Method when Using Position servo sss 4 7 4 3 lorque Servo Use icu ora aa rn ient dein enn ant 4 14 4 4 Auto Tuning Using Method sesenta tnter treten tnnt 4 17 4 5 Key Points of Gain Adjustment sese treten tnnt tentes 4 20 4 6 Precaution when Using Absolute Value Encoder sse 4 22 4 0 Chapter 4 Servo Using Method and Gain Adjustment o lt o Q Oo c o 5 c o 7 D amp a 330 4430 340 eadas eads t ads 8 u ym dois uonejedo epuueAQ 910N e 7 Y o anjea jes g pueuiuioo peeds 4 OND AND ot r 4 La indui uiod peguog 2 Tue 440 440 440 o ue E 40153 WMO IW T 3 S dois AoueB1eu3 jui uonnjo a MO jui uonnjoAe MOD S 61 0d Bunes epou epuue Q 12 0d 6umes abeyor dweo SPOW SPILUGN 2 PO MER NO 0t X 02 04 Bumes apow duweg 3 91 0d peeds A01 apon ge 440 440 440 dure o NIGdS ov o I 1 c04 paeds A01 e o 8 Z vo OD R
71. commended battery specification When connecting the battery to the higher device When connecting the battery to the servo drive 1 Connector attached type 2 Main unit Lithium battery Tekcell SB AAOt type 3 6V 2400mAh Connect to CN5 of servo drive Lithium battery Tekcell SB AAO type 3 6V 2400mAh 2 Battery connection N N 7 No ENo ANo EW lt a gt Open the cover and insert the battery unit in the arrow direction lt b gt Connect the connector to CN5 4 22 Chapter 4 Servo Using Method and Gain Adjustment M 3 Battery replacement The absolute value encoder battery alarm is generated when the battery voltage is 2 7V or below and the alarm is generated by receiving the data from the absolute value encoder when the power is connected to the servo drive Therefore when the servo drive control power is ON and the voltage is reduced the alarm will not be generated Battery replacement method Replace the battery when the control power of the servo drive is ON If you replace the battery when the servo drive control power is OFF the absolute value encoder must be initialized Turn the control power of the servo drive OFF after replacing the battery Check the condition after turning the control power of the servo drive ON PAN Caution e Wire the battery to the one of the servo drive side or higher device side It is dangerous when you connect to both sides because it can c
72. d Function acronym Function explanation number P08 01 CN1 23 1 SVONOFF Servo on off operation output P08 02 CN1 48 3 BRAKE Brake operation signal output P08 03 CN1 22 7 RDY Servo ready status output P08 04 CN1 47 6 n em Set speed reach completion output P08 05 CN1 21 9 pide d Torque limit status output Speed control TRQOUT P08 06 CN1 46 14 ALARM Alarm generation status output P08 07 CN1 20 10 PONO CCW torque limit status output Speed control PTQOUT P08 08 CN1 45 11 Se CW torque limit status output Speed control P08 09 CN1 19 5 ZSPD Zero speed reach output P08 10 CN1 44 8 PPIOUT P PI control mode status output GND24V CN1 24 25 24V common input EXT24V CN1 49 5 24V external input 3 30 Chapter 3 Parameter Setting X Output function setting table when P8 01 27 Position control mode internal setting function Output Function eu edu Output pin TTE Function acronym Function explanation P08 01 CN1 23 1 SVONOFF Servo on off operation output P08 02 CN1 48 3 BRAKE Brake operation signal output P08 03 CN1 22 7 RDY Servo ready status output P08 04 CN1 47 6 hee Set position reach completion output INTRQ P08 05 CN1 21 9 ee Torque limit status output Position control TRQOUT P08 06 CN1 46 14 ALARM Alarm generation status output P08 07 CN1 20 10 Em COW torque limit status output Speed control P08 08 CN1 45 11 Mind CW torque limit status output Speed control P08 09 CN
73. d TRQ 9999 9 9999 9 Speed Torque Speed1 ore Digital input speed 1 Speed2 P04 02 Digital input speed 2 9999 9 9999 9 100 0 Speed Torque P04 03 Speeds rpm 9999 9 9999 9 200 0 Speed Torque Digital input speed 3 i App3 2 Appendix 3 Parameter table Parameter 2 Default set Menu explanation unit Setting range Control type Torque1 Digital input torque 1 Torque2 f P0409 Digital input torque 2 ae ne Torque3 7 Pee Digital input torque 3 a iin P04 08 300 0 300 0 Torque P05 01 POSGanMode 1 5 J 1 Position Po5 02 POSPulseType 0 5 1 Position P05 03 Speed Mode ON OFF OFF Position Speed P05 04 Feedforward 1 00 1000 00 Position P05 05 PCPGant Hz 00 5000 Bycapacity Position P05 07 PIPPulse ERR I puse 0 999 0 Position P05 10 POSCMDTC ms 00 2000 00 Position P05 11 FFTC ms 00 20000 00 Position P05 12 ELCTRGearNUM 1 9999 1 Position P05 13 ELCTRGearDEN 1 9999 1 Position Po5 14 ELCTR Gear NUM2 1799999 1 Position P05 15 ELCTRGearDEN2 1799999 2 Position P05 16 ELCTR Gear NUM3 1799999 1 Position P05 17 ELCTR Gear DENS 1799999 4 Position P05 18 ELCTR Gear NUM4 1799999 1 Position P05 19 ELCTR Gear DEN4 1799999 8 Position P05 20
74. d in PO7 01 menu 26 SETUP2 Use speed control Hope internal setting function Can only be entered in PO7 01 menu Use position control mode internal setting function 27 SETUPS Can only be entered in PO7 01 menu Use speed torque multi control mode internal setting function 28 SETUP4 Can only be entered in PO7 01 menu 29 SETUPS Use speed position Mis control mode internal setting function Can only be entered in PO7 01 menu Use position torque multi control mode internal setting function 30 SETUP6 p T 9 Can only be entered in PO7 01 menu 3 24 Chapter 3 Parameter Setting Torque control mode internal setting function table When P7 01 is set to 25 Torque control mode h Function Parameter Input pin Function acronym Function explanation number P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input contact point P07 03 CN1 17 16 ESTOP Emergency stop input contact point P07 04 CN1 42 19 ALMRST Alarm reset input contact point P07 05 CN1 16 6 TRQ1 Digital torque input contact point 1 P07 06 CN1 41 7 TRQ2 Digital torque input contact point 2 P07 07 CN1 15 9 SPD1 GEAR1 Digital speed input contact point 1 P07 08 CN1 40 10 SPD2 GEAR2 Digital speed input contact point 2 P07 09 CN1 14 3 DIR Torque direction conversion input contact point P07 10 CN1 39 13 CCWLIM PTQLIM CCW torque generation limit input cont
75. d inertia Load inertia ad Motor inertia 5 When P3 01 3 the variable gain is applied based on the following gain adjustment speed 1 and gain adjustment speed 2 Display range Manufactured default Speed Torque Gain ADJ d1 raze emai 100 0 5000 0 800 0 Position control Display range Manufactured default Speed Torque AD 2 me le 10 0 500 0 100 0 Position control Actual speed is Lr e nd 0 RA SC loop gain i LL P03 08 Display range Manufactured default Speed Torque in ADJ TRQ1 Gain ADJ TRQ 0 0 300 0 150 0 Position control Display range Manufactured default Speed Torque 0 0 300 0 50 0 Position control Gain ADJ TRQ1 4 4 Chapter 4 Servo Using Method and Gain Adjustment Operation during conversion Command speed Actual speed lt Internal command speed SC loop gain 7 When P3 01 5 the variable gain is applied based on the ON OFF status of external control gain conversion contact point At this time the conversion time of the control gain is decided Display range Manufactured default eed Torque Contact Gain TC PETE P 3 0 0 10000 0 100 0 Position control The longer the conversion time of the control gain the smoother the conversion of control gain But the application of control gain can take a long time 4 5 Chapter 4 Servo Using Method and Gain Adjustment Operation during conversion Gain conversion
76. e 4 2 Timmy Pid j h 1 servo with this magnetic contactor It n 1 can reduce the life of the servo H HLTH EN H EEE d E J MN ER DS c 5 CNI a a a st Se ln 2 a n f Wiring Mis wiring can damage the servo driver The control signal line must be sufficiently away 1 internal form the main circuit wiring and it is very important i regenerated i resistor md Vy 1 t P snot to be affected by the noise Digital Loader It sets various parameters and displays the operating status LLL ccc cce ee ee eee ee ee eere Grounding To prevent electric shock the terminal of motor and OOO drive must be grounded in type 3 or above grounding to the closest point i de essevvsvsnevvenenenennnnnnnnenner Motor Do not apply impact to the 1 shaft and detector of the motor with a 1 hammer etc Motor power wiring The U V W PC Communications and F G terminal of the drive and 1 1 motor must be aligned ncoder wiring Connect the connector of the encoder cable m 2 2 l LS industrial Systems Chapter 2 Wiring and Connection 2 2 Main Circuit Terminal Board Wiring 2 2 1 Small capacity main circuit terminal wiring XDA S001 XDA S002 main circuit terminal The usage and wiring method of each terminal of product XDA S001 XDA S002 are as follows 1 A
77. e Manufactured default Applied motor rated speed Speed position control Speed Torque control This sets the command speed range of the 10 V analog voltage when the servo drive is in speed control or torque control mode Speed Torque control This sets the command speed range of the 10 V analog voltage when the servo drive is in speed control or torque control mode 3 15 Chapter 3 Parameter Setting Voltage Set speed P03 16 Manufactured Display range Speed Torque A ff default uto Ost ON OFF ins control OFF It automatically adjusts the offset voltage of the servo drive for the analog 0 V input of the upper controller First servo off and connect voltage to the zero speed input pin of CN1 connector And then set PO3 17 on and adjust the offset voltage automatically so that it can detect the connected voltage to zero speed When the offset voltage adjustment is complete the P03 17 is automatically turned off and the offset voltage is automatically updated to the parameter of P03 18 Manufactured P03 18 Manual Offset x Espey Tee default NR DNE mV 1000 0 1000 0 0 0 control f Manufactured Unit Display range P03 19 Override ENB default Speed control ON OFF OFF The override mode operation is set to on when minute speed is adjusted when the user is combining the speed command with the speed by digital contact point and analog speed command Manufactured default Speed cont
78. e But if set too high it smoothes the analog command to somewhat reduce the responsiveness Input terminal voltage Torque Analog torque command command a Torque command with filter TC Time sec Speed Time sec V For the speed limit of torque servo 4 speed limit values are applied according to the contact point of SPD1 and SPD2 when the SPDLIM contact point is ON and the speed limit of P02 05 and P02 06P are applied when the SPDLIM contact point is OFF 4 16 M 4 4 Auto Tuning Using Method Chapter 4 Servo Using Method and Gain Adjustment For the auto tuning applied to XDA S000 series the servo drive estimates the inertia of the load attached to the servo motor during operation and has the function of adjusting the speed control gain and position control gain 4 4 1 System response setting The system response is set P02 18 manually before using auto tuning The following P05 05 P05 06 P03 05 P03 06 P03 07 P03 08 and P02 16 automatically changes and when the auto tuning function is set to ON the tuning operation is executed with the target of manually set value P02 18 P03 05 P03 07 P02 16 System ibd 0 Speed P03 06 Speed P03 08 Command response Postion loop Postion oop control loop SCTC 1 control loop SC TC 2 torque filter setting gain 1 gane gain 1 gain 2 TC 1 2 0 5 0 2 0 200 0 5 0 120 0 4
79. e auto jog mode Revolution speed Use revolution time auto jog mode Revolution speed Use revolution auto jog mode Manufactured dod Seed Display range defaut Speed Torque ES 9999 9 9999 9 ium Position control Manufactured Jog Time1 REV1 oat Display range default Speed Torque sec rev 0 00 5000 00 100 Position control Manufactured dog Seed Display range default Speed Torque ER 9999 9 9999 9 Position control 100 0 Manufactured Unit Display range e Speed Torque Jog Time2 REV2 default B sec rev 0 00 5000 00 1 00 Position control Manufactured dai Soseda Display range pus Speed Torque do 9999 9 9999 9 a Position control 3 34 Display range 0 00 5000 00 Unit JOG 09 Jog Time3 REV3 sec rev JOG 10 Jog Speed4 Unit JOG 11 Jog Time4 REV4 sec rev Unit Display range 12 Jog Speed5 Unit Display range z Jog Time5 REV5 JOG 13 og Nme secy rev 0 00 5000 00 Unit Display range z J ed6 Unit Display range 2 Jog Time6 REV6 JOG 15 9 secyfrev 0 00 5000 00 Unit Display range J ed7 Unit Display range 17 Jog Time7 REV7 9 sec rev 0 00 5000 00 Unit Display range z J ed8 Unit JOG 19 Jog Time8 REV8 f sec rev Auto jog mode 1 Speed time Display range 9999 9 9999 9 Display range 0 00 5000 00 Display range 0 00 5000 00 JOG 04 Speed JOG 10 JOG 06 Chapter 3 Parameter Setting Manufactured default 1 00 Manufactur
80. e of Line driver output it can not connect with contact Use the converting device for changing output method from Line driver to Open collector or Use HOME sensor Homing or HOME by DOG signal note 2 If signal HOME DOG Upper Lower limit is not used it can be used for normal input E stop input can be used by command note3 The above connection is only shown in case of P07 01 27 Postion control mode note4 Please change Motor driver s input mode to 1 phase input mode because XGB standard type only outputs pulse direction mode note5 The above connection is only shown in case of using X axis of built in positioning Chapter 7 Connection with Upper Controller Connection with XGB standard unit gt This is an example of speed control mode servo system operation SERVO MOTOR XGT SERVO R Power AC gt XDA S 200 230V me XBC DNH L 24V note2 Common input COMO Q P0009 Lower linit note 1 Rating voltage of HOME input is DC24V In case of Line driver output it can not connect with contact Use the converting device for changing output method from Line driver to Open collector or Use HOME sensor Homing or HOME by DOG signal note 2 If signal HOME DOG Upper Lower limit is not used it can be used for normal input E stop input can be used by command note3 The above connection is only shown in case of P07 01 27 Postion control mode note4 Please change Motor driver s input mode
81. ed default 200 0 Manufactured default 1 00 Manufactured default 400 0 Manufactured default 1 00 Manufactured default 400 0 Manufactured default 1 00 Manufactured default 800 0 Manufactured default 1 00 Manufactured default 800 0 Manufactured default 1 00 JOG 12 JOG 08 i J0G 05 JOG 07 JoG 09 JoG 1 1 oc SE sec ON f Servo ON OFF gt Time sec Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Chapter 3 Parameter Setting E 3X 3 33 Auto jog mode 2 Speed revolution A JOG 04 Speed 0 IN Position 0 i i i gt gt it gt it gt Rev JOG 05 JOG 07 JOG 09 i je ON Servo ON OFF Time sec 3 12 Alarm Display Setting Manufactured Unit Display range eed Torque ALS 01 Current Alarm p ay rang default Sp B 3 Position control nor This indicates the current alarm ALS 01 menu is the user input parameter and is the menu to notify the alarm condition of the servo drive Alarm Alarm acronym Al
82. eed A a Actual speed Torque A Internal command speed Display range Manufactured default Speed Torque 0 0 10000 0 100 0 Position control Contact Gain TC When executing the control gain conversion by the external input contact point it decides the control gain conversion time 3 12 Chapter 3 Parameter Setting Conversion operation Gain conversion contact point oFF ON OFF GAITRS i Gain2 Applied gain Gain1 P02 24 100 ms Temporary Sto Unit Display range Manufactured default Speed Torque dde E ON OFF OFF Position control As the stop function it sets the operation type of the set input contact point Depending on the menu value the stop operation is converted Display range Manufactured default Speed Torque Emergency Sto Jeney ad ON OFF OFF Position control As the emergency stop it sets the operation of the set input contact point Depending on the menu value the emergency stop operation is converted Display range Manufactured default Speed Torque ON OFF OFF Position control As the direction function it sets the operation of the set input contact point Depending on the menu value the direction select is converted Display range Manufactured default Speed Torque ON OFF OFF Position control Ripple COMPEN In case of speed ripple during operation this function can reduce the speed ripple You can select from the follow
83. er besides the 200V level must be installed with a transformer Always connect the standard regenerated resistance to the P and B terminal Chapter 2 Wiring and Connection Me Chapter 2 explains the main circuit wiring O signal connection examples and connection method to peripheral devices of the servo drive 2 1 Main Circuit and Peripheral Device Wiring s 2 1 2 2 Main Circuit Terminal Wiring ooo quier cen pode dean dance Pe tu nett jintujiekind 2 3 2 3 CN1 V O Signal Explanation s rrnrnrnrnrnrnrnrnrnrnenenenerererennvnnnenenererererererenennnnnnnenser 2 6 2 4 CN2 Wiring and Signal Explanation sees 2 11 2 5 CN3 Wiring and Signal Explanation sees 2 17 2 0 Chapter 2 Wiring and Connection 2 1 Main Circuit and Peripheral Device Wiring This part explains the peripheral device and main circuit wiring Abide the following danger and caution details during wiring N Danger e Do not open the surface cover when connecting the power or during operation It can cause electric shock e Do not operate the drive when the surface cover is removed It can cause electric shock because the high voltage terminal and charge part are exposed e Even when the power is turned off do not remove the surface cover unless it is for wiring or periodic check It can cause electric shock because the inside of the servo drive is cha
84. front back it must stand 2 0G of vibration acceleration 6 Vibration grade The vibration grade of AC servo motor is V15 at the rated rpm 7 Direction of installation t can be installed horizontally or top bottom end of axis Make sure the cable is facing down from the motor When installing vertically install the cable trap and make sure oil and water do not get into the motor 8 Cable disconnection Do not apply stress or make dents to the cable When the motor is used for movement you must use the movement type cable 1 4 2 Servo drive 1 Operating environment Ambient temperature 0 50 C There should be no freezing Ambient humidity 90 RH or below There should be no steam Inside panel temperature specification Set the average inside panel temperature to 40 C or below to assure drive life and reliability 2 Installation direction and clearance Install the product so that the XDA S sign is shown on the front side When installing the drive within a sealed compartment maintain more than 10mm of clearance from the side and more than 40 mm in top and bottom direction Especially when you are installing a multiple number of units side by side you require more than 100 mm of clearance to the top and make sure they do not get overheated by installing fans nstall heating devices such as the regenerated resistance far from the drive 3 Prevention of ingress of foreign matter When assemblin
85. g the control panel make sure that small pieces or ground power does not get into the drive Please take consideration not to make oil water metal pieces etc get into the gaps of the control panel from the ceiling fan When using the product at a location where hazardous gas and dust are common protect the drive with air purge 1 5 Chapter 1 Model Check and Handling E 1 5 Handling 1 5 1 Handling precaution Mishandling can lead to unexpected accidents or damage The key items are listed as follows Reference the related details and use the drive correctly 1 Handling Do not apply any pressure to the encoder which is the motor detector Hitting the shaft with a hammer or falling can cause damages Do not directly connect commercial power AC220V to the motor Over current can reduce the magnetic efficiency of the motor Always connect to the defined servo drive for operation 2 Wiring Connect the grounding terminal of the drive and motor to the drive side and ground all at once to the closest point Use the class 3 earth 1000 or below to prevent electric shock and mis operation The U V W and FG terminal of the drive and motor must be aligned Because the 2 lines are replaced with the commonly used motor the rotating direction cannot be changed If you connect the commercial power to the U V W and FG terminal of the drive it can be damaged Connect the 200V level power to the R S and T terminal and the pow
86. he gain switching method by contact point is to set the low gain in the motor stopping range But the gain switching method by speed is to request for high gain and is used for machine tool requiring high precision processing requiring low gain in high speed Gain switching method by torque When the servo motor operates in high torque and the gain is set high it can cause vibration Also when the servo motor is operating in low torque it can cause speed ripple and poor control performance due to low gain In this case by using the gain switching method of torque you can realize stable operation in all ranges of operation and excellent control performance 4 21 Chapter 4 Servo Using Method and Gain Adjustment Eg 0 0 0 0 0 0 4 6 Precaution when Using Absolute Encoder In the higher device when detecting the absolute position of the machine even when the power of the servo drive is turned off you must use an absolute value type servo motor and drive If you connect the power when using the absolute value type servo system you can create a machine system that can directly enable auto operation with additional position detection operation And the difference between the absolute value type drive and standard type drive is whether there is a back up battery 4 6 1 Battery handling The battery supplies the back up power so that the drive can store the position information of the Absolute encoder even when the power is turned off 1 Re
87. hecking the unit always turn off the power and wait for more than 10 minutes to pass before checking the unit because charged voltage can remain in the internal smoothing condenser to cause an accident Check if there are any pieces of wire dust particles accumulated inside and clean appropriately Check whether the screw of the terminal is loose and check whether they are tightened Check if there are problems of parts discoloration damage disconnection from heating For the connection test of the control circuit use the high resistance range on the tester and do not use a megger or buzzer Check whether the cooling f an is operating normally Check if there are any abnormal sounds motor bearing brake part Check whether there are any damages or cracks to the cables Especially detector cable Especially during operation execute periodical checks according to the using condition during operation Check and correct any misalignment of center of load connecting axis Chapter 7 Connection with Upper Controller Chapter 7 shows the example of connection with representative upper controller 7 1 Example of connection with upper controller sess 7 1 7 0 l LS Industrial Systems Chapter 7 Connection with Upper Controller 7 1 Example of connection with upper controller Connect with LS Industrial System GM1 2 3 K1000S position decision unit G3F POPA gt This is a
88. hether there are any exposed core wires A lt d G n y a a WA E Y F ZA 2 4 Chapter 2 Wiring and Connection 2 2 3 Large capacity main circuit terminal wiring method XDA S015 XDA S045 main circuit terminal The usage and wiring method of each terminal of product XDA S015 XDA S045 are as follows 1 As the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V 2 As the supplementary power of the power circuit connect the r and t terminal to single phase AC200 230 V 3 Connect the regenerated resistance between the terminals labeled P and B 4 For the U V and W terminal connect the U V and W phase of the servo motor 5 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal AC iius operating XDA S015 XDA S020 XDA S030 evice AWG 12 3 5mm XDA S045 Wire thickness AWG 10 5 5mm GMC 40 35A 40 35A GMC 50 50A level product ABS33b ABS33b ABS33b 30A Breaker 10A 20A Level product NFZ 4030SG NFZ 4040SG NOISE FILTER 30A 40A 250W Intemal regenerated 500 250W 500 parallel 2 units resistance External External diagram A diagram A MC and Breaker LS INDUSTRIAL SYSTEMS http www Isis biz V NOISE FILTER Samil Components http Avww samilemc com 239 220
89. ht kg 55 70 85 10 0 129 182 24 2 55 34 37 Torque speed characteristics CNO9 CN15 CN22 CN30 CN30A Torque N m Torque N m Torque N m Torque N m Torque N m m pem lel Tau rem c OO ND 12 20 24 24 9 15 18 18 6 10 12 12 5 12 N 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 p Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min CN50A KNO3 KNO5 KNO6 KNO7 Torque N m Torque N m q Torque N m 10 quei m rue m 8 4 8 6 3 di 6 4 2 4 1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min Revolution speed r min A Continuous duty zone amp B Intermittent duty zone App 5 3 Appendix 5 Servo Motor Specification EN hX Motor XMR KNO6A KN11 KN16 KN22 KN22A KN35 KN55 Drive XDA S 05 10 15 20 20 30 45 Flange Size L 130 180 Rated output W 600 1100 1600 2200 2200 3500 5500 Rated current A rms 3 7 6 7 10 2 14 1 152 20 2 31 6 Max i EN 114 18 1 30 0 423 456 60 6 79 A rms N m 2 86 5 25 7 64 10 5 10 49 16 67 26 18 Rated torque kgf cm 29 2 53 6 779 107 107 170 267
90. iation R gt st filter Feedforward P05 04 Position command pulse TC 100 P05 10 Internal Position position Position Speed command ist filter command W error PC P Gain POS Gain mode kt S command x P05 05 P05 06 P05 01 f Position 1 This sets the position control gain mode Manufactured Display range POS Gain Mode default Position control 145 1 When the servo drive set to position control mode the position control gain mode is set Set value Operation explanation 1 Use PC P gain 1 P05 05 2 Use PC P gain 2 P05 06 3 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set speed P02 20 P02 21 for the position controller gain 4 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set torque P02 22 P02 23 for the position controller gain 5 Select gain 1 P05 05 or gain 2 P05 06 by the external contact point signal for the position controller gain 2 This sets the PC P gain applied by the set value of P05 01 Manufactured Display range default i P PC P Gain1 Position control VER 0 0 500 0 Note by capacity Manufactured P05 06 PCP Gain2 isplay range goian Position control 0 0 500 0 Note by capacity 4 9 Chapter 4 Servo Using Method and Gain Adjustment Position command Position feedback Kp pc PC P Gain 3 When P5 01 3 the variable gain is app
91. ilter 2 in the set resonance frequency and resonance bandwidth Display range Manufactured default Speed Torque NF Frequency2 pe 50 0 2000 0 500 0 Position control This sets the notch filter frequency 2 to reduce the resonance of the machinery NF Bandwidth2 Unit Display range Manufactured default Speed Torque 96 10 0 99 9 95 0 Position control TRQ Filter TC Unit Display range Manufactured default Speed Torque ms 0 0 1000 0 By capacity Position control f Unit Display range Manufactured default Speed Torque P02 17 Auto Tuning 0 1 0 Position control System Response Unit Display range Manufactured default Speed Torque P02 18 1 19 By capacity Position control 3 10 Chapter 3 Parameter Setting The setting of system response is to set the response to the target of the machine system attached to the servo motor P02 18 P05 05 P05 06 P03 05 P03 07 P02 16 System Posiionioop Fester Speed P03 06 Speed P03 08 Command response control loop SC TC1 control loop SC TC2 torque filter setting gani oana gain 1 gain 2 TC 1 2 0 5 0 2 0 200 0 5 0 120 0 45 2 5 0 10 0 5 0 120 0 10 0 80 0 3 5 3 10 0 15 0 10 0 80 0 15 0 60 0 3 0 4 15 0 20 0 15 0 60 0 20 0 45 0 2 5 5 20 0 25 0 20 0 45 0 25 0 40 0 2 0 6 25 0 30 0 25 0 40 0 30 0 30 0 1 5 7 30 0 35 0 30 0 30 0 35 0 25 0 1 3 8 35 0 45 0 35 0 25 0 45 0 18 0 12 9 45 0 55 0 45 0
92. ing set values ON Use speed ripple compensation function OFF Do not use speed ripple compensation function Display range Manufactured default Speed Torque P INIT arameter ON OFF OFF Position control 3 13 Chapter 3 Parameter Setting 3 4 Speed Control Parameter Setting P03 01 Speed Gain Mode Display range 1 5 Manufactured default 1 When the servo drive is set to speed control mode it sets the speed control gain mode Speed control Set value Operation explanation 1 Use speed controller gain 1 P03 05 P03 06 2 Use speed controller gain 2 PO3 07 P03 08 3 Apply variable gain using gain 1 P03 05 P03 06 and gain 2 P03 07 P03 08 according to set speed P02 20 P02 21 for the speed controller gain Apply variable gain using gain 1 P03 05 P03 06 and gain 2 P03 07 P03 08 according to set torque P02 22 P02 23 for the speed controller gain 5 Select gain 1 P03 05 P03 06 or gain 2 P03 07 P03 08 by the external contact point signal for the speed controller gain PHP Control Friction COMPEN Display range 0 0 100 0 Display range 0 0 100 0 Manufactured default 100 0 Manufactured default 0 0 Speed position control Speed position control When the servo motor is attached on the machinery with severe friction with ball screw etc this sets the friction compensation coefficient to reduce the dead zone th
93. ith vertical UP and DOWN key and horizontal axis RIGHT and LEFT key 1 Parameter change UP Positive direction mode change increase in blinking value DOWN Negative direction mode change decrease in blinking value LEFT Move blinking value to left RIGHT Move blinking value to right ENTER Display parameter value start and end of parameter change x Enter motor ID 00 gt 11 Xx Enter digital input speed 1 200 gt 200 Dnm 8 Ori ri LI u LI im EN ENTER ENTER ENTER ENTER FEM 141 a d LEN Li LL IL I UP LEFT LEFT LEFT FEN rt eae LIII Lael LILI LEFT UP GEN pine UP ENTER FEM sr FI LIII PI ENTER rer LIE I When changing the parameter sign indicates the blinking value but sign does not indicate anything Chapter 5 Servo Operating Method E Ja Oda O3 5 2 3 Alarm related processing part 1 Currently generated alarm display menu ENTER Indicated generated alarm value In case of over current alarm I r1 1 Pil tli LI In case of normal condition after removing alarm cause and resetting Currently generated alarm display menu shows the currently generated alarms Even though it is free to move to the next menu the alarm cannot be reset and the motor cannot be operated 2 Alarm reset menu UP ON OFF change DOWN ON OFF change LEFT Move menu RIGHT Move menu ENTER Start and end of parameter change Current alarm cancel function oper
94. lied based on the following gain adjustment speed 1 and gain adjustment speed 2 Display range Manufactured default Speed Torque 100 0 5000 0 800 0 Position control Gain ADJ Speed1 Display range Manufactured default Speed Torque in AD 2 Gain ADJ Speed 10 0 500 0 100 0 Position control Operation during conversion Command speed Gain 4 When P5 01 4 the variable gain is applied based on the following gain adjustment torque 1 and gain adjustment torque 2 Display range Manufactured default Speed Torque 0 0 300 0 150 0 Position control Gain ADJ TRQ1 Display range Manufactured default Speed Torque 0 0 300 0 50 0 Position control Gain ADJ TRQ2 4 10 Chapter 4 Servo Using Method and Gain Adjustment u M Operation during conversion Command speed Speed Actual speed A Torque lt Internal command speed Gain t hi ii P05 06 5 When P5 01 5 the variable gain is applied based on the ON OFF status of the external control gain conversion contact point At this time the conversion time of the control gain is decided Display range Manufactured default Speed Torque inT Coma E Is 0 0 10000 0 100 0 Position control The longer the conversion time of the control gain the smoother the conversion of control gain But the application of control gain can take a long time Operation during conversion Gain conversion contac
95. lt By motor type Manufactured default By motor type Manufactured default By motor type Manufactured default By drive type Enter the setting value in the following table depending on the servo drive capacity Speed Torque Position control Speed Torque Position control Speed Torque Position control Speed Torque Position control Drive capacity 01 02 04 05 08 10 15 20 30 45 XDA S P01 11 1 2 4 5 8 10 15 20 30 45 Drive ID Encoder ID Display range Enc 0 R Manufactured default Enc A Speed Torque Position control ABS INC ABS Encoder Manual INC INC INC INC INC INC ay m m ID setting 2000 2500 3000 5000 6000 2048 i 13bit 33bit 33bit P01 12 Enc 0 Enc A Enc b Enc C Enc d Enc E EncF EncG EncP EncR Encoder Pulse Display range 1 32768 Manufactured default 2000 Speed Torque Position control En r ID ees Enc 0 Enc A Enc b Enc C Enc d Enc E Enc F Enc G Enc P Enc R Manual P01 13 sing 2000 2500 3000 5000 6000 2048 2048 32768 32768 Pulse Out Rate Unit pulse Display range 1 131072 Manufactured default By model Speed Torque Position control Set the pulse out rate of the encoder when outputting in line driver method by dividing the encoder pulse on A and B fed back from the motor But for the 17 bit serial encoder applied
96. mit value irrelevant from the contact point input 2 The analog torque command operates as feedforward torque item Precision control 3 17 Chapter 3 Parameter Setting 3 5 Input Contact Point Digital Speed and Torque Setting 3 18 Speed1 Digital input speed 1 Speed2 Digital input speed 2 Speed3 Digital input speed 3 Speed4 Digital input speed 4 Speed5 Digital input speed 5 Speed6 Digital input speed 6 Speed7 Digital input speed 7 Torque1 Digital input torque 1 Torque2 Digital input torque 2 Torque3 Digital input torque 3 Torque4 Digital input torque 4 Torque5 Digital input torque 5 Torque6 Digital input torque 6 Torque7 Digital input torque 7 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 9999 9 9999 9 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Setting range 300 0 300 0 Manufactured default 10 0 Manufactured default 100 0 Manufactured default 200 0 Manufactured default 500 0 Manufactured default 1000 0 Manufactured default 2000 0 Manufactured default 3000 0 Manufactured default 0 0 Manufactured default 2 0 Manufactured defa
97. n example of position control mode servo system operation Servo motor XGT SERVO XDA S Power AC 200 230V 50 60 Hz G3F POPA I 24V GND24 Manual PULSE DC 5 12V CLEAR Q Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to tum on the main circuit power of servo drive It only has the signals related to LS Industrial Systems G3F POPA and XDA S Series Note The above connection is only shown in case of P07 01 27 Position control mode 5 1 Chapter 7 Connection with Upper Controller Connection with LS Industrial Systems GM4 6 K200S 300S position decision unit G4F PP10 Open Collector gt This is an example of position control mode servo system operation Servo motor XGT SERVO ed XDA S UC Power AC gt Q S vo 200 230V QT w Q 50 60 Hz FGO I I 3 t E T 24V ii ha GND24 G4F PP10 I 73 DRVIN GND24V EMG DOG cH HOME 5V 5 Pzo HOME com O9 30 0 iPzo ov 25 ny ALARM p m T 5v MPG A 27 ps P MPG B VIE 0 MPG B GND24 PPFIN rp OG 10 C PFIN 22 FP nm PPRIN 1 2W 1 5K RP 02 12 PRIN ak Q Note After connecting the power it takes about 1 2 sec
98. ncoder wiring and signal wire ground wire the electricity leakage can cause mis operation At this time separate the grounding wire to prevent mis operation 3 Example of noise countermeasure wiring The noise countermeasure mentioned above has been displayed in a diagram considering the wiring methods App 2 1 Appendix 2 Noise Countermeasure Example of wiring connected with ground connection AC 200 230 V Servo Drive XDA S U V Ww Noise I O signal Filter2 processing circuit ex PLC Ext GND Ext GND 7772 Ground Plate Earth GND Ground to one point with type 3 or above Use the thick wire of 3 5 mm or thicker for grounding wire App 2 2 Appendix 2 Noise Countermeasure M x Example of noise filter wiring yyy YvYvY L T to NOISE FILTER 4 4 NOISE FILTER BOX Yyy 1 80x YYY lt X gt lt O gt AAA AAA YYY YYY LZZ NOISE FILTER 78 NOISE FILTER BOX q gt BOX vYYYVY vv YYY lt X gt lt O gt Do not put the input wire and output wire in the same duct or tie them together
99. ncy stop input contact point P07 04 CN1 42 19 ALMRST Alarm reset input contact point P07 05 CN1 16 18 PLSCLR Position command pulse clear input contact point Digital speed input contact pointt electronic gear ratio P0706 CN1 41 9 SPDI GEAR1 Fv er 2 conversion input contact point1 P07 07 CN1 15 10 SPD2 GEAR2 Digital Spee input comaa point2 electronic gear ratio conversion input contact point2 P07 08 CN1 40 2 TYPE When the control mene S set to multi MOE control mode conversion input contact point eed position direction conversion input P07 09 CN1 14 3 DIR po P contact point P07 10 CN1 39 13 CCWLIM PTQLIM CCW revolution limit input contact point P07 11 CN1 13 14 CWLIM NTQLIM CW revolution limit input contact point P07 12 CN1 38 12 SPDLIM TLIM Torque limit use input contact point GND24V CN1 2425 24V common input EXT24V CN1 49 E 24V external input x Position torque multi control mode internal setting function table When P7 01 is set to 30 Position torque multi control mode Function Parameter Input pin Function acronym Function explanation number P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input contact point P07 03 CN1 17 16 ESTOP Emergency stop input contact point P07 04 CN1 42 19 ALMRST Alarm reset input contact point P07 05 CN1 16 9 SPD1 GEAR1 electronic gear ratio conversi
100. nd Connection M 2 3 2 CN1 I O wiring NEB MEI Servo Drive RS bs R UC u Power AG 200 230v 1 N i XDA S i V S 50 60Hz M sa o SO T w w note 1 FGC r note 2 t Brake Power input terminal Regenerative P CN2 resistor i note 3 B P R vT I C CN1 input CN3 Digital Loader 424 e i 49 BEZ PC Loader RS232C Falo ESTOP 39 di letwork communication gt SPD1 3 3K W RS485 RS232C GEARI ba I M NE o gt SPD3 a2 a K Out gt DIR 16 288 K 3 MONIT1 97e STOP 13 as 2 MONIT2 3 3K o gt SVONEN 18 8 GND al Sd v le o o ALMRST 38 ds spore p Dui me o gt PIP a ia Y 5 as INFOS CWLIMT aak dA Nu n MEL 40 Uu B 48 BRAKE ap EM T Sdn p C 21 RDY 3i C a7 zsPD HH 3s C 20 ALARM SEEN z B as A CODEO MPG Manual Pulse ETUR PFIN 10 LY DI or PLC Position Location 3i C aa A CODE2 Card PPRIN 9 D q PRIN 12 LY as 09024 7 PAO RI 32 PAO SPDIN 27 HEH me i R 6 Peo spl 31 PBO AD TRQIN 2
101. nsmission method Supplementary asynchronous Baud Rate 9600 bps Start bit 1 bit Stop bit 1 bit Parity Excellent Character Code ASCII Code 7 bit Data Format 8 Character Revolution is outputted in line 5 2 Absolute data content 8 Serial data This indicates where the motor axis is positioned after several revolutions from the reference position Absolute encoder initialized value b Initial incremental indication It outputs the pulse in the same speed as the revolution as about 1250 rpm 17 bit serial encoder application and P01 14 16384 4096 pulse from the origin position to current motor position of the motor axis Reference position Absolute initialization el 0 N 1 Coordinate T 7 Y T M value Current position 2 g 3 2 E E x Absolute data E is calculated as follows E MxR E E E E E Current position read from encoder Serial data multi revolution data E Initial incremental pulse rate Generally showed in value E Initial incremental pulse rate read from absolute encoder initialization point Generally shown in value and this value is stored and used in the upper device E Current position necessary from customer system Pulse rate for 1 encoder revolution Value with division ratio PO 1 14 applied 2 15 Chapter 2 Wiring and Connection EE OOOO 3 Absolute data transmission sequence 8 Maintain the ABS REQ signal to H
102. ntact point P07 03 CN1 17 16 ESTOP Emergency stop input contact point P07 04 CN1 42 19 ALMRST Alarm reset input contact point P07 05 CN1 16 6 TRQ1 Digital torque input contact point1 P07 06 CN1 41 9 SPD1 GEAR1 Digital speed input contact point 1 P07 07 CN1 15 10 SPD2 GEAR2 Digital speed input contact point 2 P07 08 CN1 40 2 TYPE When ie inia mode s set to multi mode control mode conversion input contact point P07 09 CN1 14 3 DIR Torque speed direction conversion input contact point CCW revolution limit input contact point P07 10 CN1 39 13 cowuwPrauw Peed contro CCW torque generation limit input contact point Torque control CW revolution limit input contact point P07 11 CN1 13 14 CWLIM NTQLIM peer EM CW torque generation limit input contact lpoint Torque control P07 12 CN1 38 12 SPDLIM TLIM Speed NE use input contact poini Torque Como Torque limit use input contact point Speed position control GND24V CN1 2425 24V common input EXT24V CN1 49 24V external input Chapter 3 Parameter Setting X Speed position multi control mode internal setting function table When P7 01 is set to 29 Speed position multi control mode Function Parameter Input pin Function acronym Function explanation number P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input contact point P07 03 CN1 17 16 ESTOP Emerge
103. ocessing requiring low gain in high speed Gain switching method by torque When the servo motor operates in high torque and the gain is set high it can cause vibration Also when the servo motor is operating in low torque it can cause speed ripple and poor control performance due to low gain In this case by using the gain switching method of torque you can realize stable operation in all ranges of operation and excellent control performance 3 Key points of position control mode The position control loop gain gradually increases the speed when the motor machine reaches a point where it makes weird noise vibration or target position to the value where undershoot does not occur Also increase the speed control loop gain and inertia ratio to the value where the motor machine does not make weird noise When you reduce the SC TC value the response improves But if set too low the motor machine can generate vibration and if set to high the pulse error may be regress and maintain as is 4 20 Chapter 4 Servo Using Method and Gain Adjustment o M 4 Key points when mixing gain 1 and gain 2 in position control mode Gain switching method by contact point When the motor stopping noise is generated select the contact point so that high gain can be applied for general operation and select the contact point so that low gain can be applied after the motor stops Gain switching method by speed The objective of t
104. oder type Page of wiring explanation Incremental encoder 2 11 Absolute encoder 11bit 2 12 Absolute Incremental encoder 17bit 2 13 nm Contents Chapter 1 Model Check and Handling 0 RR TR 1 1 1 2 Servo Drive sace ei e 1 2 1 3 Combination Table of Servo Drive and Motor sseeenes 1 3 1 4 Installation Method C 1 4 RIG 4avrvrv4vc4vcdv4r4v44 4414 1 7 Chapter 2 Wiring and Connection 2 1 Main Circuit and Peripheral Device Wiring eee 2 1 2 2 Main Circuit Terminal VVIBPIE usus quiu eerta uten Ek ab putos ceed asp daducu tn tuve ata 2 3 23 0NT VO Signal BPA Lasse eden neande 2 6 2 4 CN2 Wiring and Signal Explanation eene 2 11 2 5 CN3 Wiring and Signal Explanation sees 2 17 Chapter 3 Parameter Setting 3 1 Status Display Parameter e sessesssesesesese tenete tenete tete ta tete n entren 3 1 3 2 Motor and Operating Device Setting sse 3 5 3 3 General Control Parameter Setting sees 3 8 3 4 Speed Control Parameter Setting essere 3 14 3 5 Input Contact Point Digital Speed and Torque Setting 3 18 3 6 Position Control Parameter Setting sese 3 19 3 7 Torque Control Parameter Setting
105. of zero or less by decelerating in free run condition when the servo is off Display range Manufactured default Speed Torque Notch Filter SN 0 2 0 Position control The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery Set value Operation explanation 0 Do not use the notch filter 1 1 Operate the notch filter 1 in the set resonance frequency and resonance bandwidth This is the method of reducing the resonance after automatically detecting the 2 resonance frequency it automatically detects the frequency of which the vibration is generated and reduces the resonance Automatically switches from mode 2 gt 1 3 9 Chapter 3 Parameter Setting NF Frequency Unit Display range Manufactured default Speed Torque Hz 50 0 2000 0 300 0 Position control This sets the notch filter frequency 1 to reduce the resonance of the machinery NF Bandwidth1 Display range Manufactured default Speed Torque 10 0 99 9 95 0 Position control It shows the certain gain bandwidth where the notch filter 1 does not operate to reduce the resonance of machinery Notch Filter2 Display range Manufactured default Speed Torque 0 1 0 Position control The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery Set value Operation explanation 0 Do not use the notch filter 2 1 Operate the notch f
106. ompensation ABS Absolute Absolute REV Revolution Revolution ADJ Adjustment Adjustment MAX Maximum Maximum TRQ Torque Torque MULTI Multiple Multiple NF Notch Filter Notch Filter COM Communication Communication TC Time Constant Time Constant FF Feedforward Feedforward ERR Error Error ELCTR Electric Electric NUM Numerator Numerator DEN Denominator Denominator 3 1 Status Display Parameter Unit Display range Manufactured default Speed Torque Display Sel isplay Select 100 1330 1208 Position control When the power of the servo drive is turned on this sets the menu to display on the display window The first and second space indicates the upper menu number of each menu and third and fourth space indicates the lower menu number For example if it is set as SIE 01 1203 the 12 means the StE menu and 03 refers to the StE 03 3 1 Chapter 3 Parameter Setting First and second space value Upper menu name Po1 PO2 POS P04 POS PO6 PO7 P08 PO9 JOG ALS SE 1 and 2 value 01 02 03 04 05 06 07 08 09 10 11 12 Refer to each parameter for the third and fourth menu number Limit rpm 0 0 9999 9 Position control Command Unit Speed Torque Torque 96 300 0 300 0 Position control z oo 3 2 Chapter 3 Parameter Setting For internal mount loader gt CN1 13 CN1 14 CN1 15 CN1 16 CN1 17
107. on control mode Function f Parameter Input pin Function acronym Function explanation number P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input contact point P07 03 CN1 17 16 ESTOP Emergency stop input contact point P07 04 CN1 42 19 ALMRST Alarm reset input contact point P07 05 CN1 16 9 SPD1 GEAR1 electronic gear ratio conversion input contact point 1 P07 06 CN1 41 10 SPD2 GEAR2 electronic gear ratio conversion input contact point 2 P07 07 CN1 15 12 SPDLIM TLIM Torque limit use input contact point P07 08 CN1 40 3 DIR Poston command pulse direction conversion input contact point P07 09 CN1 14 18 PLSCLR Position command pulse clear input contact point P07 10 CN1 39 17 PLSINH Position command pulse input limit input contact point P07 11 CN1 13 13 CCWLIM PTQLIM CCW revolution limit input contact point P07 12 CN1 38 14 CWLIM NTQLIM CW revolution limit input contact point GND24V CN1 24 25 z 24V common input EXT24V CN1 49 24V external input X Speed torque multi control mode internal setting function table When P7 01 is set to 28 Speed torque multi control mode 3 26 7 Function Parameter Input pin Function acronym Function explanation number P07 01 CN1 18 1 SVONEN Servo on off operation input contact point P07 02 CN1 43 15 STOP Temporary stop input co
108. on input contact point 1 P07 06 CN1 41 10 SPD2 GEAR2 electronic gear ratio conversion input contact point 2 Torque limit use input contact point Position control P07 07 CN1 15 12 SPDLIM TLIM q D P Speed limit use input contact point Torque control When the control mode is set to multi mode control mode P07 08 CN1 40 2 TYPE cene conversion input contact point P07 09 CN1 14 18 PLSCLR Position command pulse clear input contact point P07 10 CN1 39 6 TRQ1 Digital torque input contact point1 CCW revolution limit input contact point Position control P07 11 CN1 13 13 CCWLIM PTQLIM CCW torque generation limit input contact point Torque control CW revolution limit input contact point Position control CW P07 12 CN1 38 14 CWLIM NTQLIM AN torque generation limit input contact point Torque control GND24V CN1 24 25 24V common input EXT24V CN1 49 24V external input 3 27 Chapter 3 Parameter Setting 3 9 Output Contact Point Function Setting Manufactured Display range Speed Torque default 0 30 iu Position control In the P08 01 menu you can set the single pin 0 18 or set the pin 25 30 by control mode but in P08 02 P08 10 menu you can only set the single pin 0 18 Enter the 25 30 value in the P08 01 menu to use the pin setting by control mode and the menu of P08 01 P08 10 will automatically be reset with the pin setting of the applicable mode For more details please refer to the
109. onds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to tum on the main circuit power of servo drive It only has the signals related to LS Industrial Systems G4F PP10 and XDA S Series Note The above connection is only shown in case of P07 01 27 Position control mode 7 2 Chapter 7 Connection with Upper Controller Connection with LS Industrial Systems GM4 6 K200S 3008S position decision unit G4F PP1D Line Driver gt This is an example of position control mode servo system operation Servo motor XGT SERVO DC XDA S Power AC lt 4 s 200 230V T 50 60 Hz gt 0 r gt O t j x 4 3 gt av ba GND24 G4F PPID 424V HOME 5V O PZO GND24 HOME COM EZ ALARM MPG A MPG A MPG B MPG B GND24 PPFIN PFIN PPRIN PRIN Note After connecting the power it takes about 1 2 seconds until the alarm signal leads to normal operation Consider this when designing the power connection sequence Also the alarm signal operates alarm detection relay 1Ry to tum on the main circuit power of servo drive It only has the signals related to LS Industrial Systems G4F PP1D and XDA S Series Note The above connection is only shown in case of P07 01 27 Position control mode 5 3 Chapter 7 Connection with Upper
110. ple mode control mode conversion input contact point 3 DIR Torque speed location direction conversion input contact point 4 PI P P PI control mode conversion input contact point 5 GAITRS Control gain conversion input contact point 6 TRQ1 Digital torque input contact point 1 7 TRQ2 Digital torque input contact point 2 8 TRQ3 Digital torque input contact point 3 Digital speed input contact point 1 9 SPD1 GEAR1 P electronic gear ratio conversion input contact point 1 Digital speed input contact point 2 10 SPD2 GEAR2 3 j electronic gear ratio conversion input contact point 2 11 SPD3 Digital speed input contact point 3 12 SPDLIM TLIM Speed ai use mp contact pomt Torque Fono Torque limit use input contact point Speed Position control CCW revolution limit input contact point eed Position control 13 CCWLIM PTQLIM Sp or CCW torque generation limit input contact point Torque control CW revolution limit input contact point 14 CWLIM NTQLIM Speed Position control CW torque generation limit input contact point Torque control 15 STOP Temporary stop input contact point 16 ESTOP Emergency stop input contact point 17 PLSINH Position command pulse input limit input contact point 18 PLSCLR Position command pulse clear input contact point 19 ALMRST Alarm reset input contact point 20 ABSREQ Initial data request signal for absolute encoder 25 SETUP1 Use torque control mode internal setting function Can only be entere
111. que speed characteristics LNO3 LNO6 LN09 LN12 T N Torque N m Torque N m orque m rque N m Torque N m orq Nm 500 1000 1500 2000 Revolution speed r min LN12A Torque N m 30 500 1000 1500 2000 Revolution speed r min LN20 Torque N m 20 15 10 on D ip 500 1000 1500 200 LN30 Torque N m J 90 75 24 40 l 60 500 1000 1500 2000 Revolution speed r min 500 1000 1500 2000 Revolution speed r min A Continuous duty zone amp B Intermittent duty zone App 5 6 500 1000 1500 2000 Revolution speed r min 32 24 0 Revolution speed r min 100 80 60 40 20 500 1000 1500 2000 Revolution speed r min LN40 Torque N m ID 500 1000 1500 2000 Revolution speed r min mn Appendix 5 Servo Motor Specification Motor XMR KF08 KF10 KF15 KF22 KF35 KF50 Drive XDA S 10 15 20 30 45 Flange Size LJ 130 180 Rated output W 750 1000 1500 2200 3500 5000 Rated current A rms 53 6 2 9 2 14 1 20 5 33 8 Max instantaneous current 15 9 18 6 27 6 42 3 61 5 101 4 A rms N m 3 58 4 77 7 16 10 5 16 7 23 9 Rated torque kgf cm 36 53 48 7 73 1 107 170 244 Max N m 10 74 14 31 21 56 31 4 50 0 71 7 instantaneous kgf cm 109 5 146 0 220 0 321 510 732 torque Rated rpm r min 2000 Max rpm r min 3000
112. r Ot P OB E B a 18 42 e a a Servo Drive XDA S hi FGQ 19 6 XS F G Brake power input terminal CN2 i CN3 Digital Loader PC Loader RS232C Network communication RS485 RS232C CN1 Output y amp yh k B SVONOFF INSPD INPOS BRAKE 2 RDY ZSPD PDOUT TRQOUT ALARM PCWOUT PTQOUT NCWOUT NTQOUT V The above input and output contact points are shown when setting the speed control mode contact point P07 01 P08 01 26 Note 1 NF standards for Noise Filter and it must be used to prevent the noise from intruding from the outside Note 2 For the XDA S004 45 type connect the single phase AC220V V to the r t terminal supplementary power XDA S001 02 type does not have the supplementary power r t terminal Note 3 The recovery resistances of XDA S004 XDA S010 are installed inside the driver as an internal type The recovery resistance of the XDA S015 type or above is the separately installed type Check the capacity and apply accordingly Note 4 Connect the ground wire of CN1 cable to the FG Frame Ground terminal 4 2 Chapter 4 Servo Using Method and Gain Adjustment 4 1 2 Speed servo gain adjustment 1 This sets the speed control gain mode Manufactured Speed Gain Mode 1 5 default Speed control 1 Setting range When the servo drive set to speed control mode the speed con
113. r soldering 10120 3000VE The 15 line type incremental encoder arrangement of CN2 and XMR Series AC servo meter is shown as the following table CN2 MOTOR _160 80series side MOTOR _1130 180series side PIN No Connector pin No for encoder Connector pin No for encoder P 23 mw f R 3 w e M N K 6 TU 8 L pe e NE 1 ee qm 2 du o X y y 9 GND 14 G o 309 0 0 0 7 L W qua VE F J D E B ie PB A083 C p qc EE a A H Ca gp ox coq GE Connect the grounding wire of the encoder wiring cable for F G V Applied cable specification AWG24 x 9Pair TWIST SHIELDED CABLE Maximum length 20m 2 11 Chapter 2 Wiring and Connection 2 4 2 When using 11bit absolute encoder CN is the connector located on the bottom right side of the front side of the operating device This connector is used for connecting the operating device and the encoder of the servo drive The PIN arrangement shown from the connector in the user s point of view is as follows The encoder signals may differ depending on the type of encoder Based on soldering side of user connector Connector for CN2 is optional Manufacturer 3M CASE product name 10320 52F0 008 Connector for soldering 10120 3000VE The 11bit absolute encoder wiring details of CN2 and XMR series AC servo motor are shown as the following table M
114. range Manufactured default Speed Torque CW TRQ LMT 300 0 0 0 300 0 Position control TE Manufactured default Sead Tergue pay rang Maximum value of i 3 0 0 6000 0 Position control applied motor CCW Speed Limit 3 8 Chapter 3 Parameter Setting Manufactured default P02 06 CW Speed Limit OEP ane Maximum value of paed qe rpi 6000 0 0 0 Position control applied motor Display range Manufactured default Speed Torque B Posa 0 0 9999 9 50 0 Position control Display range Manufactured default Speed Torque Brake Ti 0 0 10000 0 50 0 Position control Y Operating condition of brake When any one of the operating speed of P02 07 and operating time of P02 08 of the user menu is satisfied the brake will operate Display range Manufactured default Speed Torque 0 3 2 Position control DB mode control is to stop the serve motor abruptly during an emergency stop The user menu P02 09 sets the stop operation of the servo motor when the servo is turned off or during an emergency stop Caution However this function is not available in Large capacity Set value Operation explanation 0 Maintain by decelerating the dynamic brake when the servo is off 1 Free run operation at set zero speed or below by decelerating the dynamic brake when the servo is off Maintain free run operation by decelerating in free run condition when the servo is 2 off 3 Maintain dynamic brake at set speed
115. reate a short circuit 4 6 2 Absolute value encoder initialization 1 When the absolute value encoder requires initialization During first operation When the encoder cable is separate from the servo drive After replacing the battery When the absolute encoder related alarm is generated 2 Absolute value encoder initialization reset method 17bit serial absolute value encoder When it sets the origin by itself set the parameter P01 20 to ON and it will change to ON OFF to initialize the current position Multi Turn data reset When the absolute value related alarm is generated execute alarm reset by using alarm reset contact point ALMRST When it sets the origin by itself set the parameter P01 20 to ON and it will change to ON gt OFF to initialize the current position Or connect the power to encoder terminal ERST CN2 20 and Vcc terminal CN2 19 for more than 4 seconds 4 23 Chapter 5 Servo Operating Method Chapter 5 explains the using method of the loader for servo operation to set the servo parameter and display the status 5 1 Basic Connection of Loader sese tnter tenens 5 1 5 2 Using Method of Internal Mounter Loader sees 5 2 5 3 Using Method of Digital Loader eene tents 5 9 5 0 Chapter 5 Servo Operating Method M 5 1 Basics of Loader You must basically check the motor parameter PO1 from
116. relay 1Ry to tum on the main circuit power of servo drive It only has the signals related to XGF PD1 2 3A and XDA S Series Note The above connection is only shown in case of P07 01 26 Speed control mode 5 5 Chapter 7 Connection with Upper Controller Connection with K120S unit 2 This is an example of speed control mode servo system operation XGT SERVO R Power AC 4 mos 200 230V MASTER K120S note2 note 1 Rating voltage of HOME input is DC24V In case of Line driver output it can not connect with contact Use the converting device for changing output method from Line driver to Open collector or Use HOME sensor Homing or HOME by DOG signal note 2 If signal HOME DOG Upper Lower limit is not used it can be used for normal input E stop input can be used by command note3 The above connection is only shown in case of P07 01 27 Postion control mode note4 Please change Motor driver s input mode to 1 phase input mode because MASTER K120S only outputs pulse direction mode note5 The above connection is only shown in case of using X axis of built in positioning 7 6 Chapter 7 Connection with Upper Controller nnn Connection with XGB standard unit 2 This is an example of speed control mode servo system operation XGT SERVO XDA S Power AC 200 230V 4223 XBM DN S note2 1 2W 1 5K note 1 Rating voltage of HOME input is DC24V In cas
117. rged e Execute the wiring work and check more than 10 minutes after the power has been disconnected and checked of the voltage with tester etc e Ground the grounding terminal of the drive and motor both to the drive side and ground at once in the closest point To protect electric shock and mis operation use the type 3 grounding 100 Q or below e The wiring work and checking work must be executed by specialized technician e The wiring must be done after the main unit is installed It can cause electric shock or injury e Do not operate the key with wet hands It can cause electric shock or injury e Make sure you do not damage the wire apply excessive stress on the wire put heavy object on top of the wire or have the wire pressed again an object It can cause electric shock or injury N Caution e Use wiring that complies with the standard The servo motor may not operate e Do not install power condenser surge absorber or radio noise filter on the output side of the servo drive e Correctly connect the output side Terminal U V W FG The motor can operate abnormally e When attaching the DC relay for control output signal on the control output signal part be careful of the diode direction for surge absorption The signal may not be outputted due to problems and the protection circuit will not operate during emergency stop For diode direction refer to the user manual 2 1 Chapter 2 Wiring and Connection
118. rol 0 Display range 0 2 Clamp Mode Clamp mode is only applied in the speed control mode Clamp mode can be used when stopping the servo motor without dropping the analog command voltage to O V Once it is clamped it will return to its clamped location even when it turns by external force 3 16 Clamp mode 0 Speed n command Command voltage Unit P03 21 Clamp Voltage mV Unit ms Unit rpm P03 23 P03 24 When torque command operation mode is set to 2 the feedforward TRQ can be used The feedforward TRQ input enables fast decision making during speed control But if the feed forward input is too high it can cause an overshoot or undershoot Apply Zero SPD VIB REJ Feedforward TRQ Clamp mode 1 Speed A command Command voltage Clamp voltage Display range 1000 0 1000 0 Display range 0 0 2000 0 Display range 0 0 1000 0 Display range 0 2 Chapter 3 Parameter Setting Clamp mode 2 Speed command A Manufactured default 0 0 Manufactured default 0 0 Manufactured default 0 1 Manufactured default 0 Command voltage Clamp voltage Speed control Speed control Speed position control Speed position control appropriately Set value Operation explanation 0 The function by analog torque command is operated by input contact point SPDLIM TLIM 1 The analog torque command continually operates in torque li
119. ronmental Specification 1 2 Chapter 1 Model Check and Handling sm 1 3 Combination Table of Servo Drive and Motor Motor ee CN CK KN Series TN Series LN Series KF Series TF Series LF Series XDAS Series 3000 6000 2000 3000 1500 3000 1000 2000 2000 3000 1500 3000 1000 2000 rm rm rm rm rpm rm rpm 01 CNO1 02 CNO2 CK02 i i i i i i CNO3 CNO4 04 KNO3 04E CKO4 INGE LNO3 LF03 e CNO4A CNO5 05 CNO6 KNO6 CK OSE CNO8 KNOGA TNO5 LNO6 TFO5 LFO6 CNO9 KNO7 08 CN10 ii i i i KF10 i i 10 KN11 TNO9 LNO9 TFO9 LFO9 LN12 15 CN15 KN16 TN13 KF15 TF13 LF12 LN12A KN22 TN17 20 CN22 LN20 KF22 TF20 LF20 KN22A TN20 CN30 30 KN35 TN30 LN30 KF35 TF30 LF30 CN30A 45 CN50 KN55 TN44 LN40 KF50 TF44 Xx IOAET and O5E drive models are for a more precise torque and speed position control and categorized as specially ordered product The motors that can be applied to O4E and O5E drive model are limited to the motors within the and for more details please contact your point of purchase 1 3 Chapter 1 Model Check and Handling 1 4 Installation Method 1 4 1 Servo motor 1 Using environmental condition Ambient ien 0 40 C No freezing temperature Ambient sh 80 RH or below No steam E X Y 19 6 mis 2G vibration 2 Precaution when assembling load
120. s LSIS VINA Congty che tao may dien Viet Hung Rad Guangzhou China e mail zhangch Igis com cn Dong Anh Hanoi Vietnam e mail sip Tel 86 20 8326 6754 Fax 86 20 8326 6287 Tel 04 4 882 0222 poe 544 0020220 a LS Industrial Systems Chengdu Office gt gt China LS Industrial Systems Hanoi Office gt gt Vietnam Address Room 2907 Zhong Yin B D No 35 Renminzhong 2 Address Room C21 5th Floor Horison Hotel 40 Cat Linh Road Chengdu China e mail hongkonk vip 163 com Hanoi Vietnam Tel 86 28 8612 9151 Fax 86 28 8612 9236 Tel er pr LS Industrial Systems Qingdao Office gt gt China a Dalian LS Industrial Systems co Ltd gt gt China Address 12th Floor Guodong building No52 Jindun Road Address No 15 Liaohexi 3 Road economic and technical Chengdu China e mail bellkuk hanmail net development zone Dalian China e mail lixk lgis com cn Tel ER Fax 86 532 583 3793 Tel 86 411 8273 7777 Fax 86 411 8730 7560 LS Industrial Systems constantly endeavors to improve its product so that Information in this manual is subject to change without notice LS Industrial systems Co Ltd 2006 All Rights Reserved XGT Servo 2008 08 S 19X t o o OMS 19X Right choice for ultimate yield LSIS strives to maximize customers profit in gratitude of choosing us for your partner Programmable Logic Controller XGT Servo Me XCT Series User s Manual XDA S A Safety Instructions eRead this manu
121. s the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V But even though it is possible to use 220V the output can be lower than rated 2 Connect the regenerated resistance between the terminals labeled P and B 3 For the U V and W terminal connect the U V and W phase of the servo motor 4 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal AC SERVO Operating device Wire thickness AWG 16 1 25mm GMC 12 13A level product XDA S001 XDA S002 ABS33b 5A level product NOISE FILTER NFZ 4030SG 30A External regenerated resistance SOW 500 Contactor and breaker LS Industrial Systems http www Isis biz V NOISE FILTER Samil Components http Avww samilemc com 2 2 2 Medium capacity main circuit terminal wiring XDA S004 XDA S010 main circuit terminal The usage and wiring method of each terminal of product XDA S004 XDA S0010 are as follows 1 As the main power of the power circuit connect the R S and T terminal to 3 phase AC200 230 V 2 As the supplementary power of the power circuit connect the r and t terminal to single phase AC200 230 V 3 Connect the recovery resistance of internal type during shipment between the terminals labeled P and B 4 For the U V and W terminal connect the U V and W phase of the servo motor 5 Ground the FG terminal Connect the grounding wire of the servo motor with this terminal wma X a
122. shad Rio pid App 3 1 App3 0 LS industrial Systems Appendix 3 Parameter table Appendix 3 1 Parameter Table Parameter F Default set Menu explanation Unit Setting range Control type StE 01___ Display select 1 100 1330 1203 Speed Torque Position StE 02 Command Speed rpm 9999 9 9999 9 Speed Positon StE 03 MotorSpeed rpm 9999 9 9999 9 Speed Torque Position StE 04 CCW Speed Limit rpm 0 0 99999 Speed Torque Position StE 05 CW Speed Limit rpm 99999 00 Speed Torque Position Command Pulse 99999 99999 Position StE 07 Feedback Pulse pulse 99999 99999 Position StE 08 Error Pulse 1 pulse 99999 99999 Position StE 09 Command Torque 3000 3000 Speed Torque Position Load Rate 96 300 0 300 0 Speed Torque Position StE 11 MaxLoadRate 300 0 300 0 Speed Torque Position StE 12 GOWTRQLMT 00 3000 Speed Torque Position StE 13 CWTROLMT 3000 00 Speed Torque Position StE 14 InetiaRaio 00 500 20 Speed Torque Position StE 15 MULTI Turns rev 0 999999 Speed Torque Position StE 16 SingleTun 0 999999 Speed Torque Position StE 17 VO Status 1 1 0 999999 Speed TorquefPosition
123. system Shaft impact prevention It is important to align the centers of the motor axis and the axis of the relative machine If the axis centers are not aligned it will create vibration and can cause damage to the bearing When installing the coupling use a rubber hammer so that the impact to the axis and bearing can be reduced without any excessive force I Check 4 places in tum The difference between maximum m minimum should be 0 03 or ower gt le Check 4 places in tum The difference between maximum ano minimum should be 0 03 or ower 3 Accuracy of attachments The table shows the accuracy of the output axis and attached part of the AC servo motor A Accuracy of right angle between flange 0 04 mm B assembly side and output axis A ti E ccentric force of flange fitting outer 0 04 mm diameter B Vibration of output axis end C 0 02 mm HO ZZ v T I R Total Indicator Reading Chapter 1 Model Check and Handling lt CTZTZO M 4 Impact resistance Put the motor axis in the horizontal direction and when impact is applied in the top down direction it must stand impact acceleration of 10G for 2 times But because there is a precise detector on the opposite axis end be careful not to apply direct impact to the detector 5 Vibration resistance Put the motor axis in the horizontal direction and apply the vibration in 3 directions of top down left right and
124. t of the servo drive digital loader is composed of the LCD and can set the parameter display status check sequence and check alarm record The basic movement is operates in X Y surface coordinate method of vertical axis UP and DOWN key and horizontal axis RIGHT and LEFT key RIGHT KEY LEFT KEY EN STATUS WINDOW StE 18 1 00 Display Select Command Speed EINE PEE E RE StE 01 1203 StE 02 3000 PROG Version MOTOR Motor ID nertia Absolute Origin PARAMETER P01 0 14 P01 02 P01 20 OFF Control Mode Mode Change Time GREMIEN Parameter INIT P02 0 1 P02 02 500 0 P02 29 OFF SPEED MODE Speed Gain Mode PI IP Control _ no Feedforward TRQ P03 0 1 P03 02 100 0 P03 24 0 DIGITADMGIBE Speed Speed2 LLL Torque7 P04 01 10 0 P04 02 100 0 P04 14 120 0 POSITION MODE POS Gain Mode POS Pulse Type Backlash Pulse P05 01 1 P05 02 1 P05 22 0 Analog TRQ TC TRQ ACCEL Time Manual Offset TORQUE MODE P06 01 0 0 P06 02 0 0 P06 09 0 0 CN1 18 CN1 43 CN1 38 P07 01 1 P07 02 9 P07 12 19 NM CN1 23 CN1 48 CN1 44 TPUT MODE pog oi 1 P08 02 T4000 P08 10 18 MONITOR MOI Monitor Monitor ABS1 Monitor Offset2 DE pog o1 0 PO9 02 OFF P09 08 0 0 Key Jog Mode Key Jog Speed OECD Jog Time8 REV8 JOG 01 OFF JOG 02 100 0 JOG 19 1 0 Current Alarm Alarm Reset History Reset ALS 01 0 ALS 02 orF 1 ALS 13 OFF ALARM WINDOW DOWN KEY Chapter
125. t point Gcslos OFF ON OFF P05 06 Applied gain pp 9 i P02 24 100 ms 6 Feedforward ratio setting Manufactured P05 04 Feedforward USpe anus default Position control 0 0 100 0 00 Enter the feedforward ratio for the position command speed in unit When this item increases it can reduce the position decision time but if set to high it can cause an overshoot or vibration to the machine If this value is 0 the position controller becomes simple position loop control mode Chapter 4 Servo Using Method and Gain Adjustment E M O Refer to the Max Value Feedforward according to the following R Speed loop gainy Position loop gain R Speed loop gain Position loop gain Max Value Feedforward 5 70 or below 7 80 or below 10 85 or below 20 90 or below P05 11 FFTC Unit Setting range Manufactured Position control ms 0 0 2000 0 default 0 0 Enter the 1 filter TC in ms unit of the feedforward input of the position command speed The entered position command is divided and processed through the 1 filter before being used as the feedforward input the TC of this filter can be adjusted In the applied field where the position command changes abruptly set this value high and in applied field where the position command changes smoothly set this value low If you do not want to use this filter input O Recommended setting condition P05 11 Feedforward TC lt 1000x
126. the control plan before connecting the power and turning on the servo This is the information of the motor connected to the servo and always accurate values must be set to normally operate the servo system Then you must monitor the group indicating the motor status StE to check whether various commands and limits are properly set And if this is your first time operating the unit you must verify the stability through Auto Tuning or Test Operation of Jog and Auto Jog Auto tuning operation can be done online and you do not need to execute this when the gain of stable control system is ensured offline DISPLA CN5 Battery connection ISELAY part UP Key LED1 Green Mode change parameter value increase Charging ENTER Key Parameter value change confirmation RIGHT Key Move to right for parameter change and menu LED1_Red Alarm condition BEEBE SLL LT I DOWN Key Mode change parameter value decrease LEFT Key Move to left for parameter change and menu Overview diagram of internal mounter loader ALARM RESET EMERGENCY STOP KEY JOG ON Same as mounter loader function Overview diagram of digital loader 5 1 Chapter 5 Servo Operating Method 5 2 Using Method of Internal Mounter Loader 5 2 1 Flow of display The internal mounter loader display part of the servo drive is composed of 7 segment LED and 6 digits and you can set the parameter display the status
127. time Straight S type acceleration deceleration possible 0 100 sec Position input frequency 500 Kpps Position control S Direction Pulse CW pulse CCW pulse ri Position input type specification 2 phase pulse A phase B phase Position input method Open Collector Line Driver method Torque command input DC 0 10 V maximum command Can be adjusted with parameter ENS Torque lineari 4 or below specification q y M Limited speed command DC 0 10 V maximum speed Can be adjusted with parameter Over current recovery over voltage over load motor mis wiring Torque control Protection function i Encoder problem insufficient voltage over speed over tolerance etc Regenerated resistance W Q 50 50 250 25 500 12 5 Internal function Monitor output Speed torque 0 45 V Built in function Dynamic brake Test function Jog and no motor operation alarm record Additional function i vss CW CCW revolution encoder signal division output Motor power cable Encoder cable CN1 connector CN2 connector Digital loader Operating ambient temperature Ambient humidity 90 or below There should be no steam Storage temperature 20 80 C Insulating resistance DC 500 V 10 MO or above Vote 1 This indicates the input voltage and frequency range that assures the motor rated output and rated revolution speed This is not assured during voltage drop 0 50 C There should be no freezing Envi
128. tion AWG24 x 5Pair TWIST SHIELDED CABLE Maximum length 20m 2 13 Chapter 2 Wiring and Connection x A wiring example of CN2 of motor side 160 80 and FDA7000 A when applying the 17bit absolute incremental encoder AC SERVO MOTOR AC SERVO DRIVER HIGH CONTROL 260 80 CN2 XDA S0008 CN1 DEVICE Output LINE DRIVER T I SN75174 2 IP 1 indicates the TWIST PAIRED CABLE Hs 2 T 1 TEXAS INSTRUMENT Applied cable specification AWG24 x 9Pair TWIST SHIELD CABLE Maximum length 20m You do not need to connect the incremental 17bit encoder no 7 BT and no 8 BT terminals 2 4 4 17bit absolute encoder data transmission The output signal of absolute encoder is the incremental division output PAO PAO PBO PBO PZO PZO SERVO DRIVE Division PAO gt circuit f PBO Serial Data P0114 gt Pulse conv Signal name Condition Signal content When turning on the power and Serial data PAO initializing Initial incremental pulse During normal operation after initialization is complete When turning on the power and initializing Incremental pulse Initial incremental pulse PBO During normal operation after SER HIM Incremental pulse initialization is complete PZO Always Origin point pulse Chapter 2 Wiring and Connection M D PAO serial data specification Data tra
129. to applicable mode as XGC hig type can output pulse direction mode and CW CCW output mode note5 The above connection is only shown in case of using X axis of built in positioning 7 8 Chapter 8 External Dimension Chapter 8 displays the external dimension of the servo drive 8 1 External Dimensions of Servo Drive seeeenenne nennen 8 1 8 0 LS industrial Systems Chapter 8 External Dimension 8 1 External Dimensions of Servo Drive External diagram A ligne External diagram B i H i ime n illus AS External diagram C LS industrial Systems 8 1 Chapter 8 External Dimension Weight Cooling R rk Model A B C D E F G iko nd emarks XDA S001 150 3 0 160 140 60 6 0 1 0 Dimension A XDA S002 150 3 0 160 140 60 6 0 1 0 Self XDA S004 150 3 0 160 170 90 6 0 70 1 5 cooling l Dimension B XDA S005 150 30 160 170 90 6 0 70 1 9 XDA S008 150 3
130. tor Shielded cable only connects with 10120 3000VE connector body when RS232C communication cable is assembling Do not connect with D SUB 9Pin connector body If both connectors are connected with shielded cable it may cause communication problem Chapter 2 Wiring and Connection 2 5 3 Communication cable for RS485 channel 10120 3000VE 3M 8 Re SUS Upper System Servo Drive CN3 connector Please make a terminal resistor by short circuit within Rt no 19 and N no 8 Terminal resistor 12092 is built in in servo drive Please do not connect with Rt terminal when drives are connected each other It may cause reducing the value of terminal resistor value 2 18 LS industrial Systems Chapter 3 Parameter Setting Chapter 3 explains the individual servo parameter setting method according to the usage The parameter setting can be executed with the internal mount loader and digital loader and refer to Chapter 5 for details on how to use the internal mount load and digital loader The parameter no with the symbol marked indicates that the value can only be corrected when the SVONEN input contact point is OFP 3 1 Status Display Parameter eese nettes 3 1 3 2 Motor and Operating Device Setting esses 3 5 3 3 General Control Parameter Setting sss 3 8 3 4 Speed Control Pararmeter Setting
131. trol gain mode is set Set value Operation explanation 1 Use speed controller gain 1 P03 05 P03 06 2 Use speed controller gain 2 P03 07 P03 08 Apply variable gain using gain 1 P03 05 P03 06 and gain 2 P03 07 P03 08 according to set speed P02 20 P02 21 for the speed controller gain 4 Apply variable gain using gain 1 P03 05 P03 06 and gain 2 P03 07 P03 08 according to set torque P02 22 P02 23 for the speed controller gain 5 Select gain 1 P03 05 P03 06 or gain 2 P03 07 P03 08 by the external contact point signal for the speed controller gain 2 Set the SC loop gain 1 and 2 applied by the set value of P3 01 Manufactured Display range default Speed torque 0 0 1000 0 Note by control capacity Manufactured Display range default Speed torque 0 0 1000 0 Note by control capacity P03 05 SC Loop Gain1 P03 07 SC Loop Gain2 Manufactured Display range default Speed torque 0 0 10000 0 Note by control capacity Manufactured Display range default Speed torque 0 0 10000 0 Note by control Capacity P03 06 SCTC1 P03 08 SCTC2 4 3 Chapter 4 Servo Using Method and Gain Adjustment Command speed Feedback speed K sc SC Loop Gain T se SC TC 4 This sets the inertia ratio Display range Manufactured default Speed Torque Inertia Ratio 1 0 50 0 2 0 Position control System inertia Motor inertia Loa
132. u 90 204 1001 peeds M2 GO ZOd iui peeds M22 anjea jas indui julod 1281002 0L 91 0d peeds Ao1 440 440 440 ah um GL 0d peeds no L PS NO NO Teo oa epssds indur ev id d NM NO qui peeds wnads NO zo vog zpeeds indui reu amp ia i 44O NO L0 0d Lpeeds indui jeubiq 0001 dd dds uomoejes jui peeds i p ae L uonoejep 81 0d Bunes e8eyo SYO FR peeds Jopoou3 ZL 0d 1ueunsn pe one eBeyo asyo L 0 90d eum uone4eje eq x d L0 90d uonejedo 20 90d euin uonejejeoov 91 puewwoo enbJo 3seaoid JENNY anbio 0001 uomgelg eoop lt 0 Juoneuojooov ISI PAY 20 90d enbuor AOL 4 NIDYL ywi peeds 0001 60 90d Bunes eDeyo 1esJO 80 904 1ueunsn pe opne eBeyo asyo 4 14 Chapter 4 Servo Using Method and Gain Adjustment 4 3 1 CN1 wiring diagram when using torque servo NFB MC1 Servo Drive Power AC 200 230V 50 60Hz XDA S Brake power input terminal Regenerative P resistor Note 3 B CN1 Input Digital Loader PC Loader RS232C Network communication RS485 RS232C CN1 Output a MONIT1 2 MONIT2 PD1 GEAR1 PD2 GEAR2 Not used ALMRST PDLIM I 2 TLIM
133. ult 20 0 Manufactured default 50 0 Manufactured default 75 0 Manufactured default 100 0 Manufactured default 120 0 Speed Torque control Speed Torque control Speed Torque control Speed Torque control Speed Torque control Speed Torque control Speed Torque control Torque control Torque control Torque control Torque control Torque control Torque control Torque control Chapter 3 Parameter Setting 3 6 Position Control Parameter Setting Manufactured default Position control 1 P05 01 POS Gain Mode Unit Display range 1 5 When the servo drive is set to position control mode set the position control gain mode Set value Operation explanation 1 Use the position loop gain 1 P05 05 2 Use the position loop gain 2 P05 06 3 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set speed P02 20 P02 21 for the position controller gain 4 Apply variable gain using gain 1 P05 05 and gain 2 P05 06 according to set speed P02 22 P02 23 for the position controller gain 5 Select gain 1 P05 05 or gain 2 P05 06 according to external contact point signal of the position controller gain Manufactured default Position control 1 Display range 0 5 P05 02 POS Pulse Type Set the position command pulse mode
134. uto tuning is set by system response setting P02 18 manual part by position loop gain speed control loop gain SC TC and torque command filter and the system inertia ratio PO2 19 is set by the auto tuning mode P02 17 auto part 4 18 Chapter 4 Servo Using Method and Gain Adjustment M 4 4 3 Precaution during auto tuning 1 Operate at 500 rpm or higher speed 2 Manually set the acceleration deceleration time setting of speed shortly ms If the acceleration deceleration time is set too long the speed deviation during the algorithm processing time is too small to make estimation 3 Avoid using auto tuning when operating weak belt with lower mechanical strength 4 Avoid using auto tuning for system with load inertia abruptly changing 5 When the P02 18 System response setting is too low increase the value 6 It does not apply when using the torque control mode 4 19 Chapter 4 Servo Using Method and Gain Adjustment 4 5 Key Points of Gain Adjustment The motor needs to operate according to the command when the drive makes a command without any time delay For this operation please not the following key points 1 Key points of speed control mode The speed control loop gain gradually increases the motor machine speed until it makes a weird noise or vibration Also because the speed control loop gain and inertia ratio are proportional when you reduce the inertia ratio or speed control loop gain in case of
135. weird noise or vibration the noise and vibration from the motor machine will decrease Like the speed control loop gain the inertia ratio gradually increases the motor machine speed until it makes a weird noise or vibration Also because the speed control loop gain and inertia ratio are proportional when you reduce the inertia ratio or speed control loop gain in case of weird noise or vibration the noise and vibration from the motor machine will decrease The SC TC gradually reduces the speed to reduce speed ripple and over undershoot in most applied cases But if the SC TC value is set too low the motor machine can make a weird noise or vibration Additionally for the load with high inertia ratio 8 times or more set the SC TC high and reduce the speed control loop gain 2 Key points when mixing gain 1 and gain 2 in speed control mode Gain switching method by contact point When the noise is generated when the motor stops select the contact point so that high gain can be applied and after the motor stops select the contact point so that low gain can be applied for use In this case when you use P03 22 Stop speed vibration suppress it shows similar effect Gain switching method by speed The objective of the gain switching method by contact point is to set the low gain in the motor stopping range But the gain switching method by speed is to request for high gain and is used for machine tool requiring high precision pr
136. y Check and actions nas Normal condition Ano 00 Tum extemal ESTOP Check external DC 24V power heck ESTOP int ON EMER STOP E TP Bene P ce point input OFF ae SOP antao ponte Servo drive output terminal Check output terminal wiring re Ano 01 De Over current U V W short circuit operate after resetting replace drive OVER CURNT output over current when O C continues Input over voltage 280V or Use input voltage of 230V or below Ano 02 AC link over above Replace brake resistance increase OVER VOLT voltage Regenerated resistance acceleration deceleration time burnt Overload GD replace servo drive OVER LOAD Motor mis wiring and encoder wiring Ano 04 Main power Main power blocked when Check 3 phase main power R S T POWER FAIL issue SERVO is ON input condition Motor and encoder related set Mis wiring of value error motor and motor and encoder mis wiring encoder encoderdefect mechanical Ano 05 LINE FAIL Check motor encoder wiring and set value remove overload Over gain parameter set Adjust gain Over speed value error Check parameter P03 15 P03 16 over gravity load Remove over gravity load Ano 06 OVER SPEED acceleration deceleration gain E E Adjust position gain increase menu Over error of set value error Ano 07 ENE ommend pilce over P05 09 set value adjust command FOLLOW ERR P g P pulse frequency check motor and NEGLEN encoder wirin 300kpps or above mis 9
137. y zone amp B Intermittent duty zone App 5 2 Appendix 5 Servo Motor Specification I Motor XMR CNO9 CN15 CN22 CN30 CN30A CN50A KNOS KNO5 KNO6 KNO7 Drive XDA S 10 15 20 30 30 45 04 04 05 10 Flange Size LJ 130 180 80 Rated output W 900 1500 2200 3000 3000 5000 300 450 550 650 Rated current A rms 46 8 8 12 1 17 2 19 2 23 3 2 5 3 1 3 7 4 6 Max instantan rren eee curent 13 8 26 4 36 3 51 6 57 6 69 9 75 93 10 7 13 8 A rms N m 2 86 4 77 7 0 9 54 9 54 15 9 1 43 2 15 2 57 3 04 Rated torque kgf cm 29 2 48 7 714 97 4 97 4 162 3 14 6 21 9 26 2 31 Max N m 8 6 14 3 21 28 6 28 6 47 7 4 29 6 45 742 9 12 instantaneous kgf cm 87 6 146 214 292 292 486 9 43 8 65 7 72 7 93 torque Rated rpm r min 3000 2000 Max rpm r min 5000 4500 3000 Rotator gf cm s 412 763 11 12 14 63 26 1 438 14 15 177 211 ilis kg mxto 4 04 7 48 10 9 14 34 25 6 42 9 1 08 1 47 1 74 2 07 GD 4 kg m x10 f i i Allowable load inertia 10 times or below 20 times or below ratio Versus rotor Rated power rate KW s 204 30 6 45 1 63 9 35 7 58 9 18 9 31 3 38 0 44 6 Incremental 17 33 bit 131072 p rev or 2000 6000 p rev Detector type Absolute 17 33 bit 131072 p rev or 11 13 bit 2048 p rev Weig

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